Control method for suspension automatic horizontal system

Abstract

The invention relates to the technical field of agricultural machinery, in particular to a control method of a suspension automatic horizontal system. The method comprises the following steps that S1, a controller unit judges whether suspension is in a farming state or not; s2, an information sequence # imgabs0 # used for calculation is obtained; s3, the controller unit sends a horizontal control signal # imgabs1 # to the hydraulic distributor; and S4, the opening degree of a valve in the hydraulic distributor is controlled. A tractor driver does not need to manually open or close the automatic leveling function every time, better compactness and economical efficiency can be provided, the driver only needs to control the plow to ascend and descend, and operation of the driver is reduced. When the horizontal angle is small, a small-amount multi-time adjusting strategy is adopted. And when the horizontal angle is large, leveling is carried out again by adopting a small-amount multi-time adjustment strategy after single-time adjustment to a small-angle range.

Description

Technical Field

[0001] The present invention relates to the technical field of agricultural machinery, and in particular to a method for controlling a suspension automatic leveling system. Background Art

[0002] As the automation and intelligence level of agricultural machinery in my country continues to improve, users have put forward higher requirements for the automation level of agricultural machinery. Nowadays, more and more tractors have integrated or installed automatic leveling systems to achieve automatic adjustment of tractor suspension in different working scenarios such as rotary tillage, sowing, and beating, thereby ensuring ideal working results.

[0003] At present, the automatic leveling technology of tractor suspension has gradually become popular in the market and is loved by farmers. However, the existing electronic leveling system structure requires control terminals, controllers, hydraulic distributors, sensors, hydraulic cylinders, etc. for independent installation. Only leveling the suspension left and right cannot be guaranteed. Due to the irregular changes in the plots and the long-term working accuracy of the inclination sensor, it is difficult for the leveling system to continue to accurately follow the ups and downs of the plots. It may not be able to react in a more complex terrain environment, and the driver needs to operate frequently during the operation. Summary of the invention

[0004] The purpose of the present invention is to provide a suspension automatic leveling system control method to solve the above problems, which can provide better compactness and economy and reduce the driver's operation.

[0005] To achieve the above object, the present invention discloses a method for controlling a suspension automatic leveling system, comprising the following steps:

[0006] Step S1, the controller unit determines whether the suspension is in a tillage state; in this step, the controller unit determines whether to adjust the level of the suspension by determining whether the suspension is in a tillage state, and there is no need to operate the electronic level control terminal separately, which simplifies the operation difficulty of the agricultural machine driver. It also improves the degree of integration and saves costs.

[0007] Step S2: If the suspension is in the farming state, the controller unit collects the angle value of the suspension at regular intervals. , get the current angle information sequence , and the current angle information sequence Perform filtering to obtain the information sequence used for calculation ; This step is used to collect the current angle information sequence of the suspension , which is convenient for subsequent calculations and has high calculation accuracy.

[0008] Step S3: The controller unit sends a level control signal to the hydraulic distributor. , The calculation formula is as follows:

[0009] ;

[0010] ;

[0011] in, is the target angle value, From the sequence The actual angle value selected in is the proportional gain coefficient, is the integral gain, is the differential gain; in this step, the proportional gain coefficient , determines the current deviation value The degree of influence on the control signal, integral gain , determines the influence of past error accumulation on the control signal, which is conducive to eliminating steady-state error, differential gain , which determines the influence of the error change rate on the control signal, and is beneficial to improving the sensitivity and stability of the control.

[0012] Step S4, horizontal control opening of the valve in the hydraulic distributor The calculation formula is as follows:

[0013] ;

[0014] in, is the maximum opening of the valve, For control signal In this step, the horizontal control opening of the valve With the level control signal Directly proportional, convenient for flow control.

[0015] Preferably, in step S2,

[0016] ;

[0017] in, is the initial suspension angle information, The angle information of the suspension at the nth moment. Collect the current angle information sequence of the suspension , which is convenient for subsequent calculations and has high calculation accuracy.

[0018] Preferably, in step S2,

[0019] ;

[0020] or,

[0021] ;

[0022] in, is the suspension angle value at the nth moment, is the suspension angular velocity value at the nth moment, is the angle weight coefficient, is the weight coefficient of angular velocity. In order to more accurately control the leveling process of the suspension, the system introduces a fusion control strategy of angle and angular velocity for easy use.

[0023] Preferably, in step S2, the angle information is fitted into an angle-time curve, and the angular velocity is obtained by derivative This step facilitates the calculation of angular velocity.

[0024] Preferably, in step S2,

[0025] .

[0026] For the current angle information sequence Perform filtering to obtain the information sequence used for calculation , which is convenient for subsequent calculations and has high calculation accuracy.

[0027] Preferably, in step S2, the controller unit collects the tillage resistance value of the suspension ;

[0028] In step S3, the controller unit sends a control signal to the hydraulic distributor , The calculation formula is as follows:

[0029] ;

[0030] ;

[0031] in, It is the tillage depth control signal. The horizontal control signal The weight coefficient of Signal for tillage depth control The weight coefficient of is the soil resistance feedback control coefficient, is the preset tillage resistance target value;

[0032] In step S4, the opening of the valve in the hydraulic distributor The calculation formula is as follows:

[0033] .

[0034] In order to more accurately control the leveling process of the suspension, the system introduces a control strategy for the tillage depth. It adjusts the leveling parameters according to the conditions of different plots of land so that the leveling effect can meet a variety of ground conditions, with better leveling effect and convenient use.

[0035] Preferably, a device for measuring the tillage resistance value of the suspension is installed between the vehicle body and the suspension. The force measuring sensor is connected to the controller unit for communication. When in use, the tillage resistance value of the suspension is measured by the force measuring sensor. , easy to use.

[0036] Preferably, a speed sensor and an angle sensor for measuring the rotation angle of the lifting shaft are installed on the vehicle body, and the angle sensor and the speed sensor are connected to the controller unit for communication. In step S1, when the speed of the vehicle body is greater than a set value and the rotation angle of the lifting shaft is greater than a set value, it is considered that the suspension is in a tillage state. When in use, the signals of the speed sensor and the angle sensor are used to determine whether the suspension is in a tillage state, which is convenient for use.

[0037] Preferably, the suspension is equipped with a device for measuring the suspension angle value. The inclination sensor is connected to the controller unit for communication. When in use, the inclination sensor measures the suspension angle value. , easy to use.

[0038] Preferably, a leveling cylinder and a fixing cylinder are arranged between the suspension and the vehicle body, and the leveling cylinder is connected to the hydraulic distributor. When in use, the level of the suspension is controlled by the leveling cylinder, which is convenient to use.

[0039] In summary, the beneficial effect of the present invention is that the tractor driver does not need to manually turn on or off the automatic leveling function every time, which can provide better compactness and economy. The driver only needs to control the lifting and lowering of the plow, reducing the driver's operation. When the horizontal angle is small, a small amount and multiple adjustment strategy is adopted. When the horizontal angle is large, a single adjustment is made to a small angle range and then a small amount and multiple adjustment strategy is adopted again for leveling. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a flow chart of a method for controlling a suspension automatic leveling system of the present invention;

[0041] Figure 2 It is a structural schematic diagram of a suspension mechanism of the present invention.

[0042] In the figure: 1. Controller unit; 2. Hydraulic distributor; 3. Leveling cylinder; 4. Tilt sensor; 5. Force measurement sensor; 6. Angle sensor; 7. Speed ​​sensor; 8. Suspension; 9. Vehicle body; 10. Fixed cylinder. DETAILED DESCRIPTION

[0043] The specific implementation of the present invention is further described in detail below in conjunction with the accompanying drawings and examples. The following examples are used to illustrate the present invention, but are not intended to limit the scope of the present invention.

[0044] In the description of the present application, it should be understood that the terms "center", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside", etc., indicating orientations or positional relationships, are based on the orientations or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present application and simplifying the description, and do not indicate or imply that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be understood as a limitation on the present application.

[0045] The terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the features. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0046] In the description of this application, it should be noted that, unless otherwise clearly specified and limited, the terms "installed", "connected", and "connected" should be understood in a broad sense, for example, it can be a fixed connection, a detachable connection, or an integral connection; it can be a mechanical connection or an electrical connection; it can be a direct connection, or it can be indirectly connected through an intermediate medium, or it can be the internal communication of two components. For ordinary technicians in this field, the specific meanings of the above terms in this application can be understood according to specific circumstances.

[0047] The present invention will be further described below in conjunction with the accompanying drawings and specific embodiments:

[0048] like Figure 1 As shown, a method for controlling a suspension automatic leveling system comprises the following steps:

[0049] Step S1, the controller unit 1 determines whether the suspension 8 is in a tillage state. In this step, the controller unit 1 determines whether to adjust the level of the suspension 8 by determining whether the suspension 8 is in a tillage state. There is no need to operate the electronic level control terminal separately, which simplifies the operation difficulty of the agricultural machine driver. It also improves the degree of integration and saves costs.

[0050] Step S2: If the suspension 8 is in the tillage state, the controller unit 1 collects the angle value of the suspension 8 at regular intervals. , get the current angle information sequence , and the current angle information sequence Perform filtering to obtain the information sequence used for calculation This step is used to collect the current angle information sequence of the suspension 8 , which is convenient for subsequent calculations and has high calculation accuracy.

[0051] Specifically, in step S2,

[0052] ;

[0053] in, is the angle information of hanging 8 at the initial moment, The angle information of the hanging 8 at the nth moment. Collect the current angle information sequence of the hanging 8 , which is convenient for subsequent calculations and has high calculation accuracy.

[0054] In step S2,

[0055] .

[0056] For the current angle information sequence Perform filtering to obtain the information sequence used for calculation , which is convenient for subsequent calculations and has high calculation accuracy.

[0057] Specifically, in step S2,

[0058] ;

[0059] or,

[0060] ;

[0061] in, The hanging angle value for the nth moment is 8, is the angular velocity value of suspension 8 at the nth moment, is the angle weight coefficient, is the weight coefficient of angular velocity. In order to more accurately control the leveling process of the suspension 8, the system introduces a fusion control strategy of angle and angular velocity for easy use.

[0062] Specifically, in step S2, the angle information is fitted into an angle-time curve, and the angular velocity is obtained by derivative. This step facilitates the calculation of angular velocity.

[0063] Step S3: the controller unit 1 sends a horizontal control signal to the hydraulic distributor 2. , The calculation formula is as follows:

[0064] ;

[0065] ;

[0066] in, is the target angle value, From the sequence The actual angle value selected in is the proportional gain coefficient, is the integral gain, is the differential gain. In this step, the proportional gain coefficient , determines the current deviation value The degree of influence on the control signal, integral gain , determines the influence of past error accumulation on the control signal, which is conducive to eliminating steady-state error, differential gain , which determines the influence of the error change rate on the control signal, and is beneficial to improving the sensitivity and stability of the control.

[0067] Step S4, horizontal control opening of the valve in the hydraulic distributor 2 The calculation formula is as follows:

[0068] ;

[0069] in, is the maximum opening of the valve, For control signal In this step, the horizontal control opening of the valve With the level control signal Directly proportional, convenient for flow control.

[0070] Preferably, in step S2, the controller unit 1 collects the tillage resistance value of the suspension 8 ;

[0071] In step S3, the controller unit 1 sends a control signal to the hydraulic distributor 2 , The calculation formula is as follows:

[0072] ;

[0073] ;

[0074] in, It is the tillage depth control signal. The horizontal control signal The weight coefficient of Signal for tillage depth control The weight coefficient of is the soil resistance feedback control coefficient, is the preset tillage resistance target value;

[0075] In step S4, the opening of the valve in the hydraulic distributor 2 is The calculation formula is as follows:

[0076] .

[0077] In order to more accurately control the leveling process of the suspension 8, the system introduces a control strategy for the tillage depth, and adjusts the leveling parameters according to different land conditions so that the leveling effect meets a variety of land conditions, with better leveling effect and convenient use.

[0078] like Figure 2 As shown, a suspension mechanism using the above method includes a vehicle body 9 and a suspension 8, wherein a device for measuring the tillage resistance value of the suspension 8 is installed between the vehicle body 9 and the suspension 8. The force measuring sensor 5 is connected to the controller unit 1 for communication. When in use, the tillage resistance value of the suspension 8 is measured by the force measuring sensor 5. , convenient to use. The vehicle body 9 is equipped with a speed sensor 7 and an angle sensor 6 for measuring the rotation angle value of the lifting shaft. The angle sensor 6 and the speed sensor 7 are connected to the controller unit 1 for communication. In step S1, when the speed of the vehicle body 9 is greater than the set value, and the rotation angle value of the lifting shaft is greater than the set value, it is considered that the suspension 8 is in the tillage state. When in use, the signals of the speed sensor 7 and the angle sensor 6 are used to determine whether the suspension 8 is in the tillage state, which is convenient to use.

[0079] Suspension 8 is equipped with a device for measuring the angle value of suspension 8. The inclination sensor 4 is connected to the controller unit 1 for communication. When in use, the inclination sensor 4 measures the angle value of the suspension 8. , convenient to use. A leveling cylinder 3 and a fixing cylinder 10 are installed between the suspension 8 and the vehicle body 9, and the leveling cylinder 3 is connected to the hydraulic distributor 2. When in use, the level of the suspension 8 is controlled by the leveling cylinder 3, which is convenient to use.

[0080] The tractor driver does not need to manually turn on or off the automatic leveling function every time, which can provide better compactness and economy. The driver only needs to control the lifting and lowering of the plow, reducing the driver's operation. When the horizontal angle is small, a small amount of multiple adjustments are used. When the horizontal angle is large, a single adjustment is made to a small angle range and then a small amount of multiple adjustments are used again for leveling.

[0081] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and substitutions can be made without departing from the technical principles of the present invention. These improvements and substitutions should also be regarded as the scope of protection of the present invention.

Claims

1. A method for controlling an automatic leveling system of a suspension, characterized in that: The following steps are involved: Step S1, the controller unit (1) determines whether the suspension (8) is in a tillage state; Step S2, if the suspension (8) is in a tillage state, the controller unit (1) periodically collects the angle value of the suspension (8) , get the current angle information sequence , and the current angle information sequence Perform filtering to obtain the information sequence used for calculation ; Step S3, the controller unit (1) sends a horizontal control signal to the hydraulic distributor (2) , The calculation formula is as follows: ； ； in, is the target angle value, From the sequence The actual angle value selected in is the proportional gain coefficient, is the integral gain, is the differential gain; Step S4, horizontal control opening of the valve in the hydraulic distributor (2) The calculation formula is as follows: ； in, is the maximum opening of the valve, For control signal The maximum value of .

2. The automatic leveling system control method of claim 1, characterized in that: In step S2, ； in, is the angle information of the initial suspension (8), is the angle information of the suspension (8) at the nth moment.

3. The automatic leveling system control method of claim 2, characterized in that: In step S2, ； or, ； in, is the suspension (8) angle value at the nth moment, is the angular velocity of the suspension (8) at the nth moment, is the angle weight coefficient, is the weight coefficient of angular velocity.

4. The method for controlling an automatic leveling system of a suspension as claimed in claim 2, characterized in that: In step S2, the angle information is fitted into an angle-time curve, and the angular velocity is obtained by derivative. .

5. The method for controlling an automatic leveling system of a suspension as claimed in claim 2, characterized in that: In step S2, 。 6. The method for controlling an automatic suspension leveling system according to claim 1, characterized in that: In step S2, the controller unit (1) collects the tillage resistance value of the suspension (8) ; In step S3, the controller unit (1) sends a control signal to the hydraulic distributor (2) , The calculation formula is as follows: ； ; in, It is the tillage depth control signal. The horizontal control signal The weight coefficient of Signal for tillage depth control The weight coefficient of is the soil resistance feedback control coefficient, is the preset tillage resistance target value; In step S4, the opening of the valve in the hydraulic distributor (2) The calculation formula is as follows: 。 7. The control method of the automatic leveling system of the suspension according to claim 6, characterized in that: A device for measuring the tillage resistance value of the suspension (8) is installed between the vehicle body (9) and the suspension (8). A force measuring sensor (5) is provided, wherein the force measuring sensor (5) is communicatively connected to the controller unit (1).

8. The method for controlling an automatic suspension leveling system according to any one of claims 1 to 7, characterized in that: A speed sensor (7) and an angle sensor (6) for measuring the rotation angle of the lifting shaft are installed on the vehicle body (9). The angle sensor (6) and the speed sensor (7) are connected to the controller unit (1) for communication. In step S1, when the speed of the vehicle body (9) is greater than a set value and the rotation angle of the lifting shaft is greater than the set value, it is considered that the suspension (8) is in a tillage state.

9. The method for controlling an automatic suspension leveling system according to any one of claims 1 to 7, characterized in that: The suspension (8) is provided with a device for measuring the angle value of the suspension (8). The inclination sensor (4) is communicatively connected with the controller unit (1).

10. The method for controlling an automatic suspension leveling system according to any one of claims 1 to 7, characterized in that: A leveling oil cylinder (3) and a fixing oil cylinder (10) are arranged between the suspension (8) and the vehicle body (9), and the leveling oil cylinder (3) is connected to a hydraulic distributor (2).

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