Tractor tire pressure adjustment method and system for soil compaction reduction

Abstract

The present invention proposes a tractor tire pressure adjustment method for reducing soil compaction, which dynamically obtains the current tire pressure and the current ground pressure of the agricultural machinery at set intervals, and further calculates the current compaction degree; the compaction degree error is calculated based on the set ideal compaction degree and the current compaction degree, and it is judged whether the absolute value of the compaction degree error is greater than the set threshold; if the absolute value of the compaction degree error is greater than the set threshold, the tire pressure adjustment amount is calculated based on the compaction degree error, and the target tire pressure is calculated based on the tire pressure adjustment amount, and the tire pressure is adjusted to the target tire pressure; if the absolute value of the compaction degree error is less than the set threshold, the current tire pressure is maintained; this method can realize dynamic adjustment of the tire pressure so that it can maintain the optimal compaction state under different field conditions, thereby improving the operating efficiency of agricultural machinery while protecting the soil structure.

Description

Technical Field

[0001] The present application relates to the field of automatic control of agricultural machinery, and specifically to a tractor tire pressure adjustment method and system for reducing soil compaction. Background Art

[0002] With the increasing mechanization of modern agriculture, the impact of machinery on soil compaction has become a core issue of global concern. When tractors and other agricultural machinery operate in the field, the ground pressure from their tires significantly reduces soil porosity and permeability, hindering the growth of crop roots and exacerbating soil erosion and degradation of agricultural ecosystems. This long-term soil compaction increases machinery energy consumption, reduces crop yields, and poses a threat to the sustainable development of farmland productivity.

[0003] Currently, most research on soil compaction focuses on the impact of tire width, load, and operating path on compaction. Some studies have also analyzed the distribution of ground pressure under fixed tire pressure conditions. However, the diversity and complexity of soil environments dictate the importance of dynamic tire pressure adjustment in reducing soil compaction. In particular, how to dynamically adjust tire pressure to optimize tire contact area and balance ground pressure distribution under different soil types, operating speeds, and load conditions, thereby minimizing compaction, remains a key issue that needs to be addressed. Summary of the Invention

[0004] In order to solve the problem in the prior art that the ground pressure cannot be balanced by dynamically adjusting the tire pressure, a tractor tire pressure adjustment method and system for reducing soil compaction are proposed.

[0005] A tractor tire pressure adjustment method for reducing soil compaction, comprising:

[0006] Step 1: Obtain the current tire pressure and current ground pressure of the tractor at set intervals, and calculate the current compaction degree based on the current ground pressure and current tire pressure;

[0007] Step 2: Subtract the set ideal compaction degree from the calculated current compaction degree to obtain the compaction degree error;

[0008] Step 3: Determine whether the absolute value of the compaction error is greater than the set threshold. If the absolute value of the compaction error is greater than the set threshold, calculate the tire pressure adjustment amount based on the compaction error, and calculate the target tire pressure based on the tire pressure adjustment amount, and adjust the tire pressure to the target tire pressure; if the absolute value of the compaction error is less than the set threshold, the tractor maintains the current tire pressure.

[0009] Beneficial effects

[0010] The present invention proposes a tractor tire pressure adjustment method for reducing soil compaction, comprising: dynamically acquiring the current tire pressure and ground pressure of the agricultural machinery at set intervals, and further calculating the current compaction degree; calculating a compaction degree error based on a set ideal compaction degree and the current compaction degree; determining whether the absolute value of the compaction degree error is greater than a set threshold; and if so, calculating a tire pressure adjustment amount based on the compaction degree error, and then calculating a target tire pressure based on the tire pressure adjustment amount, and adjusting the tire pressure to the target pressure; and if the absolute value of the compaction degree error is less than the set threshold, maintaining the current tire pressure. This method enables dynamic tire pressure adjustment. During operation, the tire pressure is continuously adjusted through feedback control to maintain optimal compaction under different field conditions, thereby protecting soil structure and improving the operating efficiency of the agricultural machinery. In agricultural production, this technology can not only optimize work quality, reduce the frequency of deep plowing, but also extend the natural recovery period of soil structure. In the field of construction machinery, this method can significantly reduce long-term damage to the ground surface and foundation structures. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] Figure 1 This is a flow chart of a tire pressure adjustment method for agricultural machinery for reducing soil compaction according to a specific embodiment of the present application;

[0012] Figure 2 This is a structural diagram of an agricultural machinery tire pressure adjustment system for reducing soil compaction according to a specific embodiment of the present application. DETAILED DESCRIPTION

[0013] Specific implementation method 1: The following is combined with the attached embodiment of the present invention Figure 1 , illustrate this embodiment, and clearly and completely describe the technical solutions in the embodiments of the present invention:

[0014] A tractor tire pressure adjustment method for reducing soil compaction, comprising:

[0015] Step 1: Obtain the current tire pressure and current ground pressure of the tractor at set intervals, and calculate the current compaction degree based on the current ground pressure and current tire pressure;

[0016] Step 2: Subtract the set ideal compaction degree from the calculated current compaction degree to obtain the compaction degree error;

[0017] Step 3: Determine whether the absolute value of the compaction error is greater than the set threshold. If the absolute value of the compaction error is greater than the set threshold, calculate the tire pressure adjustment amount based on the compaction error, and calculate the target tire pressure based on the tire pressure adjustment amount, and adjust the tire pressure to the target tire pressure; if the absolute value of the compaction error is less than the set threshold, the tractor maintains the current tire pressure.

[0018] Specifically, the tractor tire pressure adjustment method for reducing soil compaction first obtains the current tire pressure of the tractor and the current ground pressure at intervals of a set time Δt to monitor the tire pressure and ground pressure of the agricultural machinery in real time. The method then determines whether the tire pressure of the agricultural machinery needs to be adjusted by judging the absolute value of the compaction error. When the tire pressure of the agricultural machinery needs to be adjusted, it is adjusted in a timely manner. Dynamic adjustment of the tire pressure of the agricultural machinery is achieved, and the ground pressure of the agricultural machinery is balanced, so that the agricultural machinery can operate accurately under various soil conditions and reduce the damage to the soil structure caused by construction machinery during foundation operations.

[0019] Furthermore, the relationship between the current ground pressure and the current tire pressure is:

[0020] P contact (t)=0.9·P current (t)+5;

[0021] Among them, P current (t) is the current tire pressure, P contact (t) is the current ground pressure.

[0022] Furthermore, the current compaction degree is calculated based on the current ground pressure and the current tire pressure as follows:

[0023] C measured (t) = A·P contact (t) B =A·(0.9P current (t)+5) B ;

[0024] Among them, C measured (t) is the current compaction degree, A is the empirical coefficient, A = 2.0, and B is the nonlinear relationship index between ground pressure and compaction degree, B = 0.5. Specifically, the current compaction degree can be calculated using the current ground pressure and the current tire pressure to verify the current compaction degree.

[0025] Furthermore, the compaction error is obtained by subtracting the set ideal compaction from the calculated compaction, including:

[0026] e c (t) = C optimal (t)-C measured (t), C optimal is the ideal compaction degree, C optimal =10N / cm 2 .

[0027] Furthermore, the tire pressure adjustment amount is calculated based on the compaction error, including:

[0028]

[0029] Where ΔPtire (t) is the tire pressure adjustment amount, K p is the control coefficient, K p =1.0bar / N·cm -2 ;K i is the error coefficient, K i =0.1; K d is the prediction coefficient, K d =0.05.

[0030] Specifically, in the above formula, the proportional term K p ·e c (t) = K p ·[C optimal -A·(0.9·P current (t)+5) B ], To round down, the difference between the target tire pressure and the actual tire pressure is calculated, and the error is quickly responded to and corrected. When the tire pressure is low, the proportional control will quickly increase the pressure; when the tire pressure is high, it will quickly reduce the pressure;

[0031] Integral term, Taking into account long-term errors, the integral term is used to eliminate small persistent deviations, avoid system lag and generate steady-state errors;

[0032] Differential term, Calculate the error change rate, predict tire pressure change trends, prevent shocks caused by over-adjustment, and ensure system stability.

[0033] Furthermore, the target tire pressure is calculated based on the tire pressure adjustment amount, including:

[0034] P current_n (t+1)=P current (t)+ΔP tire (t), where P current_n (t+1) is the target tire pressure.

[0035] Furthermore, the time Δt is set to 0.1 seconds; the threshold is set to 0.1 N / cm 2 .

[0036] Furthermore, 1.0 bar ≤ P current_n (t+1)≤2.5bar.

[0037] Specific implementation method 2: The following is combined with the attached embodiment of the present invention Figure 2 , illustrate this embodiment, and clearly and completely describe the technical solutions in the embodiments of the present invention:

[0038] A tractor tire pressure regulation system for reducing soil compaction, comprising:

[0039] Tire pressure data acquisition module, soil pressure acquisition module, data processing module, control module and tire pressure adjustment module;

[0040] The tire pressure data acquisition module is used to obtain the current tire pressure at a set time interval and send the current tire pressure to the data processing module; the soil pressure acquisition module is used to obtain the current ground pressure at a set time interval and send the current ground pressure to the data processing module;

[0041] The data processing module is used to calculate the current compaction degree based on the received current tire pressure and the current ground pressure; subtract the set ideal compaction degree from the calculated current compaction degree to obtain a compaction degree error, and send the compaction degree error to the control module;

[0042] The control module is used to determine whether the absolute value of the compaction error is greater than a set threshold. If the absolute value of the compaction error is greater than the set threshold, the control module calculates the tire pressure adjustment amount based on the compaction error, calculates the target tire pressure based on the tire pressure adjustment amount, and sends the target tire pressure to the tire pressure adjustment module;

[0043] The tire pressure regulation module is used to adjust the tire pressure to the target tire pressure.

[0044] Specifically, the tire pressure data acquisition module is a sensor network composed of multiple sensors that monitors the tractor's tire pressure, ground pressure, and soil compaction parameters in real time. Through a control algorithm, it evaluates the dynamic impact of tire pressure on soil compaction under different loads and operating conditions. Combined with mathematical modeling, the relationship between tire pressure adjustment and soil compaction effect is quantified, and the tire pressure adjustment strategy is optimized through a PID control algorithm to ultimately achieve the goal of reducing soil compaction. This system can significantly reduce soil compaction, improve the growth environment of crop roots, and increase operating efficiency, while reducing the need for deep plowing and energy consumption. It has broad application value in agricultural production and environmental protection. The system provides a scientific basis for tractor tire design and mechanical operating parameter optimization, contributing to the development of precision agriculture and green operations.

[0045] Furthermore, a tractor tire pressure regulation system for reducing soil compaction also includes a monitoring and early warning module, which is used to obtain the target tire pressure and determine whether the target tire pressure is within a set range. If the target tire pressure exceeds the set range, an early warning is issued; the set range is 10 bar to 2.5 bar.

[0046] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely illustrative of the principles and applications of the invention. It should be understood that many modifications may be made to the illustrative embodiments, and that other arrangements may be devised, without departing from the spirit and scope of the invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in ways other than those described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be employed in conjunction with other described embodiments.

Claims

1. A tractor tire pressure adjustment method for reducing soil compaction, characterized by: include: Step 1: Obtain the current tire pressure and current ground pressure of the tractor at set intervals, and calculate the current compaction degree based on the current ground pressure and current tire pressure; Step 2: Subtract the set ideal compaction degree from the calculated current compaction degree to obtain the compaction degree error; Step 3: Determine whether the absolute value of the compaction error is greater than a set threshold. If so, calculate the tire pressure adjustment amount based on the compaction error, and then calculate the target tire pressure based on the tire pressure adjustment amount, and adjust the tire pressure to the target tire pressure. If the absolute value of the compaction error is less than the set threshold, the tractor maintains the current tire pressure. The current compaction degree is calculated based on the current ground pressure and the current tire pressure as follows: C measured (t)=A·P contact (t) B =A·(0.9P current (t)+5) B ; Among them, C measured (t) is the current compaction degree, P contact (t) is the current ground pressure, P current (t) is the current tire pressure; A is the empirical coefficient, A = 2.0; B is the nonlinear relationship index between ground pressure and compaction degree, B = 0.5; Calculate tire pressure adjustments based on compaction error, including: Where ΔP tire (t) is the tire pressure adjustment amount, e c (t) is the compaction error; K p is the control coefficient, K p =1.0bar / N·cm -2 ;K i is the error coefficient, K i =0.1; K d is the prediction coefficient, K d =0.

05.

2. The tractor tire pressure adjustment method for reducing soil compaction according to claim 1, characterized in that: Calculate target tire pressure based on tire pressure adjustment, including: P current_n (t+1)=P current (t)+ΔP tire (t), where P current_n (t+1) is the target tire pressure.

3. The tractor tire pressure adjustment method for reducing soil compaction according to claim 1, characterized in that: Set the time to 0.1 seconds and the threshold to 0.1N / cm 2 .

4. The tractor tire pressure adjustment method for reducing soil compaction according to claim 1, characterized in that: The ideal compaction degree is 10N / cm 2 .

5. The method for adjusting tractor tire pressure for reducing soil compaction according to claim 2, characterized in that: Target tire pressure P current_n The range of (t+1) is 1.0 bar to 2.5 bar.

6. A tractor tire pressure regulation system for reducing soil compaction, characterized in that: include: Tire pressure data acquisition module, soil pressure acquisition module, data processing module, control module and tire pressure adjustment module; The tire pressure data acquisition module is used to obtain the current tire pressure at a set time interval and send the current tire pressure to the data processing module; the soil pressure acquisition module is used to obtain the current ground pressure at a set time interval and send the current ground pressure to the data processing module; The data processing module is used to calculate the current compaction degree based on the received current tire pressure and the current ground pressure; subtract the set ideal compaction degree from the calculated current compaction degree to obtain a compaction degree error, and send the compaction degree error to the control module; The control module is used to determine whether the absolute value of the compaction error is greater than a set threshold. If the absolute value of the compaction error is greater than the set threshold, the control module calculates the tire pressure adjustment amount based on the compaction error, calculates the target tire pressure based on the tire pressure adjustment amount, and sends the target tire pressure to the tire pressure adjustment module; The tire pressure regulating module is used to adjust the tire pressure to the target tire pressure; The current compaction degree is calculated based on the current ground pressure and the current tire pressure as follows: C measured (t)=A·P contact (t) B =A·(0.9P current (t)+5) B ; Among them, C measured (t) is the current compaction degree, P contact (t) is the current ground pressure, P current (t) is the current tire pressure; A is the empirical coefficient, A = 2.0; B is the nonlinear relationship index between ground pressure and compaction degree, B = 0.5; Calculate tire pressure adjustments based on compaction error, including: Where ΔP tire (t) is the tire pressure adjustment amount, e c (t) is the compaction error; K p is the control coefficient, K p =1.0bar / N·cm -2 ;K i is the error coefficient, K i =0.1; K d is the prediction coefficient, K d =0.

05.

7. The tractor tire pressure regulation system for reducing soil compaction according to claim 6, characterized in that: It also includes a monitoring and early warning module, which is used to obtain the target tire pressure and determine whether the target tire pressure is within the set range. If the target tire pressure exceeds the set range, an early warning will be issued; the setting range is 10bar to 2.5bar.

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