Speed and operation control system and method for self-propelled multifunctional plastic film residue machine

Abstract

The invention discloses a self-propelled multifunctional plastic film residue machine speed and operation control system and method, and belongs to the technical field of automatic control. The control system comprises a main controller, a cabin door opening and closing proximity switch, a film lifting height sensor, a header height sensor, an electric push rod stroke sensor, a straw header motor rotating speed sensor, a straw bundling motor rotating speed sensor, a straw conveying motor rotating speed sensor, a film lifting mechanism motor rotating speed sensor and a residual film packing motor rotating speed sensor. The device comprises a wheel speed sensor, a first solenoid valve, a second solenoid valve, a third solenoid valve and a solenoid valve group. The film residue machine can autonomously adjust the vehicle speed and autonomously operate.

Description

Technical Field

[0001] The present invention relates to the field of automatic control technology, and more particularly to a speed and operation control system and method for a self-propelled multifunctional residual film machine. Background Art

[0002] China, the world's largest cotton producer, currently cultivates vast acreage of cotton in Xinjiang, almost all of which is grown using film-mulching technology. While post-harvest straw and film recycling has largely become mechanized, automation and intelligentization are still in their infancy. While mainstream satellite navigation-assisted driving systems can control lateral steering of film-residue harvesters, they fail to integrate speed and operational control functions, making them unable to meet the multi-sensor fusion and multi-intelligent control unit requirements for autonomous operations.

[0003] Therefore, how to provide a self-propelled multifunctional residual film machine speed and operation control system and method, which can enable the residual film machine to autonomously adjust the vehicle speed and perform operations is an urgent problem that technical personnel in this field need to solve. Summary of the Invention

[0004] In view of this, an object of the present invention is to provide a speed and operation control system and method for a self-propelled multifunctional residual film machine.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions:

[0006] In a first aspect, a self-propelled multifunctional residual film machine speed and operation control system is provided, including a main controller, a hatch opening and closing proximity switch, a film lifting height sensor, a cutting platform height sensor, an electric push rod stroke sensor, a straw cutting platform motor speed sensor, a straw baling motor speed sensor, a straw conveying motor speed sensor, a film lifting mechanism motor speed sensor, a residual film baling motor speed sensor, a wheel speed sensor, a first solenoid valve, a second solenoid valve, a third solenoid valve, and a solenoid valve group;

[0007] The main controller is electrically connected to the hatch door opening and closing proximity switch, and is used to determine whether the residual film compartment is full;

[0008] The main controller is electrically connected to the film-forming height sensor for obtaining the actual film-forming height;

[0009] The main controller is electrically connected to the header height sensor for obtaining the actual header height;

[0010] The main controller is electrically connected to the electric push rod stroke sensor for obtaining the actual electric push rod position;

[0011] The main controller is electrically connected to the straw cutting table motor speed sensor, the straw baling motor speed sensor, the straw conveying motor speed sensor, the film lifting mechanism motor speed sensor, and the residual film baling motor speed sensor, respectively, for respectively collecting the actual speeds of the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor, and determining whether there is an abnormality in the five actual speeds;

[0012] The main controller is electrically connected to the wheel speed sensor to obtain the actual wheel speed of the residual film machine, thereby obtaining the actual vehicle speed of the residual film machine;

[0013] The main controller is electrically connected to the film lifting cylinder through the first solenoid valve, and is used to control the lifting and lowering of the film lifting cylinder, thereby controlling the film lifting height;

[0014] The main controller is electrically connected to the straw cutting platform lifting cylinder through the second solenoid valve, and is used to control the lifting and lowering of the straw cutting platform lifting cylinder, thereby controlling the height of the cutting platform;

[0015] The main controller is electrically connected to the straw cutting platform motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor through the solenoid valve group, and is used to control the opening and closing of the straw cutting platform motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor;

[0016] The main controller is electrically connected to the electric push rod and is used to control the position of the electric push rod, thereby controlling the speed of the residual film machine;

[0017] The main controller is electrically connected to the residual film cabin door opening and closing cylinder through the third solenoid valve, and is used to control the opening and closing of the residual film cabin door opening and closing cylinder, thereby controlling the opening and closing of the residual film cabin door.

[0018] Preferably, the control system further includes a host computer;

[0019] The host computer is electrically connected to the main controller;

[0020] When driving in a straight line:

[0021] The host computer is used to set the straight-line target vehicle speed, the straight-line target engine speed, the straight-line target film-forming height, and the straight-line target header height;

[0022] The host computer is used to receive the judgment result of the hatch door opening and closing proximity switch, and the judgment result is that the residual film bin is full or the residual film bin is not full;

[0023] The host computer is used to receive the actual film height collected by the film height sensor;

[0024] The host computer is used to receive the actual header height collected by the header height sensor;

[0025] The host computer is used to receive the actual electric push rod position collected by the electric push rod stroke sensor;

[0026] The host computer is used to receive the actual speeds of the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor and the residual film baling motor respectively collected by the straw cutting table motor speed sensor, the straw baling motor speed sensor, the straw conveying motor speed sensor, the film lifting mechanism motor speed sensor and the residual film baling motor speed sensor, and determine whether there is an abnormality in the five actual speeds;

[0027] The host computer is used to receive the actual wheel speed collected by the wheel speed sensor;

[0028] When turning:

[0029] The host computer is used to set the turning target vehicle speed, the turning engine target speed, the turning target film-lifting height, and the turning target cutting platform height.

[0030] Preferably, the host computer is also used to receive engine speed, engine fuel consumption, and engine torque sent by the control unit VCU.

[0031] Preferably, the above control system further includes a positioning module;

[0032] The main controller is electrically connected to the positioning module and is used to obtain the real-time position of the multifunctional residual film machine and determine whether the turning mark point is reached.

[0033] Preferably, the control system further includes an alarm light;

[0034] The main controller is electrically connected to the alarm light, which is used to display whether there is any abnormality in the actual rotation speed of the straw cutting table motor, straw baling motor, straw conveying motor, film lifting mechanism motor, and residual film baling motor.

[0035] Preferably, the control system further includes a voltage stabilizing module;

[0036] The vehicle-mounted power supply supplies power to the main controller through the voltage stabilizing module.

[0037] Preferably, the main controller adopts a C490 controller.

[0038] Preferably, the host computer communicates with the main controller based on a CAN bus.

[0039] In a second aspect, a method for controlling the speed and operation of a self-propelled multifunctional residual film machine is provided, which is implemented based on the above control system and includes the following steps:

[0040] S1: Control the ignition of the residual film machine;

[0041] Control the engine speed to the target engine speed for straight travel; start the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor; adjust the film lifting mechanism to the target film lifting height for straight travel; adjust the cutting table mechanism to the target cutting table height for straight travel;

[0042] Control the vehicle speed to the target speed for straight driving;

[0043] S2: During straight operation: determine whether the residual film bin is full. If full, control the residual film bin door to open and unload the film.

[0044] Determine whether the actual speed of the straw cutting table motor, straw baling motor, straw conveying motor, film lifting mechanism motor, and residual film baling motor is lower than the working value. If so, the residual film machine is controlled to stop working and the alarm light is controlled to sound an alarm;

[0045] Determine whether the turning mark point has been reached. If reached, control the engine speed to the turning engine target speed; turn off the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor; adjust the film lifting mechanism to the turning target film lifting height; adjust the cutting table mechanism to the turning target cutting table height; control the residual film bin hatch to open and unload the film;

[0046] Control the vehicle speed to the target turning speed, start turning and proceed to the next line of work;

[0047] S3: Repeat S1-S2 continuously until all operations are completed and the residual film machine is controlled to shut down.

[0048] Preferably, the vehicle speed, film raising height and cutting platform height are controlled based on a PID algorithm with anti-integral saturation and differential filtering.

[0049] Through the above technical solutions, it can be seen that compared with the prior art, the present invention discloses a self-propelled multifunctional residual film machine speed and operation control system, which can not only enable the residual film machine to autonomously adjust the speed and perform operations, but also achieve the following beneficial effects:

[0050] 1) The present invention can improve the stability and accuracy of vehicle speed control;

[0051] 2) The present invention can improve the control stability of the engine speed and the repeatability of the target engine speed;

[0052] 3) The present invention can improve the repeatability of the target cutting platform height and the target film-forming height;

[0053] 4) The present invention can maintain good consistency with manual control when controlling the start and stop of the five motors. BRIEF DESCRIPTION OF THE DRAWINGS

[0054] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0055] Figure 1 Schematic diagram of the speed and operation control system of the self-propelled multifunctional residual film machine provided in an embodiment of the present invention;

[0056] Figure 2 This is a diagram showing the effect of manually controlling the vehicle speed when the vehicle is unloaded, as provided in an embodiment of the present invention;

[0057] Figure 3 This is a diagram showing the effect of the system of the present invention autonomously controlling the vehicle speed when the vehicle is unloaded, as provided in an embodiment of the present invention;

[0058] Figure 4 This is a diagram showing the effect of manually controlling the vehicle speed under load provided in an embodiment of the present invention;

[0059] Figure 5 This is a diagram showing the effect of the system of the present invention autonomously controlling the vehicle speed when the vehicle is loaded according to an embodiment of the present invention;

[0060] Figure 6 This is a diagram showing the effect of manually controlling the engine speed provided in an embodiment of the present invention;

[0061] Figure 7 This is a diagram showing the effect of autonomously controlling the engine speed using the system of the present invention provided in an embodiment of the present invention;

[0062] Figure 8 This is a rendering of the effect of manually controlling the cutting platform height and film-lifting height provided in an embodiment of the present invention;

[0063] Figure 9 This is a rendering of the effect of using the system of the present invention to autonomously control the height of the cutting platform and the film-lifting height provided in an embodiment of the present invention;

[0064] Figure 10 This is a diagram showing the effect of manually controlling the start and stop of five motors provided in an embodiment of the present invention;

[0065] Figure 11This is a diagram showing the effect of using the system of the present invention to autonomously control the start and stop of five motors in an embodiment of the present invention. DETAILED DESCRIPTION

[0066] The following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of the present invention.

[0067] In a first aspect, an embodiment of the present invention discloses a self-propelled multifunctional residual film machine speed and operation control system, including a main controller, a hatch opening and closing proximity switch, a film lifting height sensor, a cutting platform height sensor, an electric push rod stroke sensor, a straw cutting platform motor speed sensor, a straw baling motor speed sensor, a straw conveying motor speed sensor, a film lifting mechanism motor speed sensor, a residual film baling motor speed sensor, a wheel speed sensor, a first solenoid valve, a second solenoid valve, a third solenoid valve, and a solenoid valve group;

[0068] In one embodiment, the self-propelled multifunctional residual film machine of the present invention adopts a 1MZSF-2.2 self-propelled multifunctional residual film machine.

[0069] The main controller is electrically connected to the hatch door opening and closing proximity switch, and is used to determine whether the residual film compartment is full;

[0070] The main controller is electrically connected to the film-forming height sensor for obtaining the actual film-forming height;

[0071] The main controller is electrically connected to the header height sensor for obtaining the actual header height;

[0072] The main controller is electrically connected to the electric push rod stroke sensor for obtaining the actual electric push rod position;

[0073] The main controller is electrically connected to the straw cutting table motor speed sensor, the straw baling motor speed sensor, the straw conveying motor speed sensor, the film lifting mechanism motor speed sensor, and the residual film baling motor speed sensor, respectively, for respectively collecting the actual speeds of the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor, and determining whether there is an abnormality in the five actual speeds;

[0074] The main controller is electrically connected to the wheel speed sensor to obtain the actual wheel speed of the residual film machine, thereby obtaining the actual vehicle speed of the residual film machine;

[0075] The main controller is electrically connected to the film lifting cylinder through the first solenoid valve, and is used to control the lifting and lowering of the film lifting cylinder, thereby controlling the film lifting height;

[0076] The main controller is electrically connected to the straw cutting platform lifting cylinder through the second solenoid valve, and is used to control the lifting and lowering of the straw cutting platform lifting cylinder, thereby controlling the height of the cutting platform;

[0077] The main controller is electrically connected to the straw cutting platform motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor through the solenoid valve group, and is used to control the opening and closing of the straw cutting platform motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor;

[0078] The main controller is electrically connected to the electric push rod and is used to control the position of the electric push rod, thereby controlling the speed of the residual film machine;

[0079] The main controller is electrically connected to the residual film cabin door opening and closing cylinder through the third solenoid valve, and is used to control the opening and closing of the residual film cabin door opening and closing cylinder, thereby controlling the opening and closing of the residual film cabin door.

[0080] In one embodiment, the control system further includes a host computer;

[0081] The host computer is electrically connected to the main controller;

[0082] When driving in a straight line:

[0083] The host computer is used to set the straight-line target vehicle speed, the straight-line target engine speed, the straight-line target film-forming height, and the straight-line target header height;

[0084] The host computer is used to receive and display the judgment result of the hatch door opening and closing proximity switch, and the judgment result is that the residual film bin is full or the residual film bin is not full;

[0085] The host computer is used to receive and display the actual film height collected by the film height sensor;

[0086] The host computer is used to receive and display the actual header height collected by the header height sensor;

[0087] The host computer is used to receive and display the actual electric push rod position collected by the electric push rod stroke sensor;

[0088] The host computer is used to receive and display the actual speeds of the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor and the residual film baling motor respectively collected by the straw cutting table motor speed sensor, the straw baling motor speed sensor, the straw conveying motor speed sensor, the film lifting mechanism motor speed sensor and the residual film baling motor speed sensor, and judge and display whether there is any abnormality in the five actual speeds;

[0089] The host computer is used to receive the actual wheel speed collected by the wheel speed sensor;

[0090] When turning:

[0091] The host computer is used to set the turning target vehicle speed, the turning engine target speed, the turning target film-lifting height, and the turning target cutting platform height.

[0092] In one embodiment, the host computer is further configured to receive engine speed, engine fuel consumption, and engine torque sent by the control unit VCU.

[0093] In one embodiment, the control system further includes a positioning module;

[0094] The main controller is electrically connected to the positioning module and is used to obtain the real-time position of the multifunctional residual film machine and determine whether the turning mark point is reached.

[0095] In one embodiment, the control system further includes an alarm light;

[0096] The main controller is electrically connected to the alarm light, which is used to display whether there is any abnormality in the actual rotation speed of the straw cutting table motor, straw baling motor, straw conveying motor, film lifting mechanism motor, and residual film baling motor.

[0097] In one embodiment, the control system further includes a voltage stabilization module;

[0098] The vehicle-mounted power supply supplies power to the main controller through the voltage stabilizing module.

[0099] In one embodiment, the main controller is a C490 controller.

[0100] Specifically: The speed and operation control system based on the C490 controller is as follows: Figure 1 shown.

[0101] The development environment of the present invention is Windows 10 operating system, the programming tool is Visual Studio 2022, the language is C++, and the framework is MFC, which has good interactivity and portability.

[0102] In one embodiment, the host computer communicates with the main controller based on a CAN bus.

[0103] It can be understood that the present invention defines the vehicle CAN bus communication protocol based on the ISO11783 protocol, as shown in Table 1, which mainly includes 10 types of status frames and 9 types of control frames. The status frame sending frequency is 20Hz; the control frame control frequency is 20Hz.

[0104] Table 1

[0105]

[0106] It is understood that the data read and sent by the present invention needs to be decoded according to the CAN bus protocol. Each CAN bus message CANMsg includes an address ID and data DATA.

[0107] After reading CANMsg, the data parsing function DataParsingFunction() is used to parse the data according to the CAN bus protocol with ID as the identifier. Taking the engine speed status frame as an example, for the CANMsg with ID = 0CF00400 and DATA = [000000A041000000], the DATA parsing process is to combine the high and low eight bits of the byte into the standard hexadecimal 0x41A0, convert it into decimal, and then combine it with the resolution to obtain the speed of 2100rpm.

[0108] Similarly, the instruction conversion function InstructionConversionFunction() is used to convert the calculated control instruction into a standard CAN message. Taking the engine speed control instruction as an example, the control ID (0C00F0F7) and data DATA must be sent simultaneously. The DATA conversion process is to divide the target speed 2100 rpm by the resolution and then convert it into standard hexadecimal. The control instruction sent is DATE = [00A0410000000000]. The data acquisition and transmission of the present invention both adopt thread mode.

[0109] In a second aspect, an embodiment of the present invention further discloses a speed and operation control method for a self-propelled multifunctional residual film machine, which is implemented based on the above control system and includes the following steps:

[0110] S1: Control the ignition of the residual film machine;

[0111] Control the engine speed to the target engine speed for straight travel; start the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor; adjust the film lifting mechanism to the target film lifting height for straight travel; adjust the cutting table mechanism to the target cutting table height for straight travel;

[0112] Control the vehicle speed to the target speed for straight driving;

[0113] S2: During straight operation: determine whether the residual film bin is full. If full, control the residual film bin door to open and unload the film.

[0114] Determine whether the actual speed of the straw cutting table motor, straw baling motor, straw conveying motor, film lifting mechanism motor, and residual film baling motor is lower than the working value. If so, the residual film machine is controlled to stop working and the alarm light is controlled to sound an alarm;

[0115] Determine whether the turning mark point has been reached. If reached, control the engine speed to the turning engine target speed; turn off the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor; adjust the film lifting mechanism to the turning target film lifting height; adjust the cutting table mechanism to the turning target cutting table height; control the residual film bin hatch to open and unload the film;

[0116] Control the vehicle speed to the target turning speed, start turning and proceed to the next line of work;

[0117] S3: Repeat S1-S2 continuously until all operations are completed and the residual film machine is controlled to shut down.

[0118] In one embodiment, the vehicle speed, film raising height, and header height are controlled based on a PID algorithm with anti-integral windup and differential filtering.

[0119] Understandably, during actual operation, vehicle speed feedback is easily affected by interference factors such as ground roughness, vehicle vibration, and sideslip. Directly using raw data can reduce control accuracy. Therefore, a Kalman filter is applied to the actual vehicle speed to reduce noise disturbances. Similarly, a Kalman filter is applied to the actual header height and actual film-lifting height.

[0120] Specific:

[0121] 1) Regarding vehicle speed:

[0122] The actual wheel speed collected by the wheel speed sensor is converted into the actual vehicle speed and then Kalman filtered to obtain the filtered actual vehicle speed.

[0123] Subtract the filtered actual speed from the target speed to obtain the speed error;

[0124] The vehicle speed error is input into a PID controller to obtain a speed control variable; wherein the PID controller executes the PID algorithm based on anti-integral saturation and differential filtering of the present invention;

[0125] Based on the speed control amount and the actual electric push rod position collected by the electric push rod stroke sensor, the electric push rod is controlled to reach the target position, thereby controlling the vehicle to reach the target speed.

[0126] 2) For header height:

[0127] The actual header height collected by the header height sensor is subjected to Kalman filtering to obtain the filtered actual header height.

[0128] Subtract the filtered actual header height from the target header height to obtain the header height error;

[0129] The header height error is input into a PID controller to obtain a header height control variable; wherein the PID controller executes the PID algorithm based on anti-integral saturation and differential filtering of the present invention;

[0130] The lifting and lowering of the straw cutting platform lifting cylinder is controlled based on the cutting platform height control amount, thereby controlling the cutting platform to reach the target height.

[0131] 3) Regarding the film height:

[0132] The actual film rising height collected by the film rising height sensor is subjected to Kalman filtering to obtain the actual film rising height after filtering.

[0133] The target film-lifting height is subtracted from the filtered actual film-lifting height to obtain the film-lifting height error;

[0134] The film-forming height error is input into a PID controller to obtain a film-forming height control variable; wherein the PID controller executes the PID algorithm based on anti-integral saturation and differential filtering of the present invention;

[0135] The lifting and lowering of the film raising cylinder is controlled based on the film raising height control amount, thereby controlling the film raising height to reach the target.

[0136] In one embodiment, the PID algorithm based on anti-integral windup and differential filtering is implemented based on the following formula:

[0137]

[0138] U(k)=K p e(k)+u I (k)+u D (k)(3);

[0139] Where:

[0140] u I (k) represents the cumulative value of the integral term of the vehicle speed (film-forming height or cutting platform height) in the kth round;

[0141] u I (k-1) represents the cumulative value of the integral term of the vehicle speed (film-forming height or header height) in the k-1th round;

[0142] K I represents the integral coefficient;

[0143] e(k) represents the error value of vehicle speed (film-lifting height or header height) in round k;

[0144] K aw Represents the anti-saturation gain. If the system is simple, K aw =K p (K p is the proportional coefficient), if the system is sensitive to the integral term, then K aw =K I ;

[0145] u(k) represents the output of vehicle speed (film-forming height or header height) in round k;

[0146] Sat represents the saturation judgment function;

[0147] u Imin ,u Imax Indicates the preset minimum and maximum values;

[0148] e(k-1) represents the error value of vehicle speed (film-lifting height or header height) in the k-1th round;

[0149] K D represents the differential coefficient;

[0150] u D (k) represents the cumulative value of the differential item of vehicle speed (film-forming height or header height) in the kth round;

[0151] u D (k-1) represents the cumulative value of the differential item of vehicle speed (film-forming height or header height) in the k-1th round;

[0152] T f , T d Represent the filtering and differentiation time constants respectively.

[0153] U(k) represents the output of vehicle speed (filming height or header height) after the kth round of anti-integral saturation differential filtering.

[0154] Finally, the autonomous control of vehicle speed, engine speed, header height, film-forming height, and the start and stop of the five working motors by the present invention was compared with the manual control of vehicle speed, engine speed, header height, film-forming height, and the start and stop of the five working motors;

[0155] 1) Vehicle speed control:

[0156] 1.1 When no-load: the five motors, cutting mechanism, film lifting mechanism and residual film bin are all not working:

[0157] When manual speed control is used, Figure 2 As shown (v represents the actual vehicle speed, v rrepresents the target vehicle speed, v e =|vv r | indicates speed error, and the suffix number indicates the test group number). Manual speed control has a certain degree of randomness, and there is a better control (refer to Figure 2 Medium v3) and poor (refer to Figure 2 In the case of v1), the target speed is roughly understood, which easily leads to a large speed error. When the control is better (v3), the MAE is 0.103 and the RMSE is 0.144.

[0158] When the system of the present invention is used to autonomously control the vehicle speed, Figure 3 As shown in Table 2, the vehicle speed control has good stability. The average MAE of the speed error in the 10 groups of experiments (as shown in Table 2) is 0.092, and the RMSE is 0.123. Compared with manual speed control, the MAE is reduced by 10.680% and the RMSE is reduced by 14.583%.

[0159] Table 2

[0160]

[0161] 1.2 When under load, the five motors, cutting mechanism, film lifting mechanism and residual film bin are all working normally;

[0162] When manual speed control is used, Figure 4 As shown in the figure, similar to no-load operation, there is a certain degree of randomness during manual control. When the control is good (v1), the MAE of the steady-state error after going online is 0.167, and the RMSE is 0.235. Moreover, when switching between straight driving and turning, manual operation takes a certain amount of time due to the need to raise and lower the hydraulic cylinder, open and close the residual membrane hatch, adjust the engine speed and vehicle speed, etc., and it is easy to stall (v3).

[0163] When the system of the present invention is used to autonomously control the vehicle speed, Figure 5 As shown in Table 3, speed switching can be achieved in a shorter time. The average MAE of the speed error in the eight groups of experiments (as shown in Table 3) is 0.133, and the RMSE is 0.178. Compared with manual speed control, the MAE is reduced by 20.359% and the RMSE is reduced by 24.255%, showing better control stability and accuracy.

[0164] Table 3

[0165]

[0166]

[0167] 2) Engine speed control:

[0168] like Figure 6As shown in FIG, similar to vehicle speed control, during manual control, the engine speed control also has an obvious “almost” phenomenon (nE1 and nE2), which is approximate adjustment and the control repeatability of the target engine speed is not high.

[0169] like Figure 7 As shown, compared with manual control, the autonomous control of the system of the present invention has better control stability and repeatability of the target engine speed.

[0170] 3) Control of cutting table height and film raising height:

[0171] Through calibration, the cutting platform mechanism is raised to the highest value, and the cutting platform height sensor feedback shows that the stroke of the straw cutting platform lifting hydraulic cylinder is 96% of the total stroke at this time, and it is 3.2% when it is reduced to the lowest; the stroke of the film lifting hydraulic cylinder of the film lifting mechanism is opposite to that of the cutting platform. When it is raised to the highest point, the stroke is 0.8% of the total stroke, and when it is reduced to the lowest point, it is 63.2%. When working, both need to be lowered to the lowest point. The optimal working values ​​of the test plot are 9.2% and 39.2% respectively. This is used as the target height during the test. There is no special requirement for the lifting height in the turning stage, and the minimum standard is to lift it up to cross the ground obstacles.

[0172] When manually controlling the height, it is done based on experience. One person is required to operate and the other person is required to visually calibrate the target height on site. This can achieve relatively stable control. However, the repeatability of the target height needs to be improved. Even if the same target height is set, there will be differences in actual operation in different work rows (refer to Figure 8 The Δ1-Δ4 in the figure results in a high degree of randomness in height control, making repeated, precise control difficult. While height adjustment requirements are less stringent during turns, height during straight-line operation directly affects stubble height and film harvesting quality, requiring precise adjustment. Because the header is suspended during turns, small fluctuations in error during this phase are primarily due to ground conditions.

[0173] When the system of the present invention is used to autonomously control the height, Figure 9 As shown, compared with manual control, the control accuracy in steady state is not much different, but the repeatability of achieving target height control is higher.

[0174] 4) Start and stop control of 5 motors:

[0175] When controlling the start and stop of 5 motors, the switch control strategy is used to realize the start and stop operation of 5 motors, such as Figure 10 and Figure 11 As shown, the dynamic response characteristics of the motor speed when the system of the present invention is autonomously controlled are well consistent with those of manual control.

[0176] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Reference can be made to the common and similar parts between the various embodiments. For the devices disclosed in the embodiments, since they correspond to the methods disclosed in the embodiments, the description is relatively simple, and the relevant parts can be referred to the method description.

[0177] The above description of the disclosed embodiments is intended to enable one skilled in the art to implement or use the present invention. Various modifications to these embodiments will be readily apparent to one skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention is not limited to the embodiments shown herein but is intended to conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A self-propelled multifunctional residual film machine speed and operation control system, characterized in that: It includes a main controller, a hatch opening and closing proximity switch, a film lifting height sensor, a cutting platform height sensor, an electric push rod stroke sensor, a straw cutting platform motor speed sensor, a straw baling motor speed sensor, a straw conveying motor speed sensor, a film lifting mechanism motor speed sensor, a residual film baling motor speed sensor, a wheel speed sensor, a first solenoid valve, a second solenoid valve, a third solenoid valve, and a solenoid valve group; The main controller is electrically connected to the hatch door opening and closing proximity switch, and is used to determine whether the residual film compartment is full; The main controller is electrically connected to the film-forming height sensor for obtaining the actual film-forming height; The main controller is electrically connected to the header height sensor for obtaining the actual header height; The main controller is electrically connected to the electric push rod stroke sensor for obtaining the actual electric push rod position; The main controller is electrically connected to the straw cutting table motor speed sensor, the straw baling motor speed sensor, the straw conveying motor speed sensor, the film lifting mechanism motor speed sensor, and the residual film baling motor speed sensor, respectively, for respectively collecting the actual speeds of the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor, and determining whether there is an abnormality in the five actual speeds; The main controller is electrically connected to the wheel speed sensor to obtain the actual wheel speed of the residual film machine, thereby obtaining the actual vehicle speed of the residual film machine; The main controller is electrically connected to the film lifting cylinder through the first solenoid valve, and is used to control the lifting and lowering of the film lifting cylinder, thereby controlling the film lifting height; The main controller is electrically connected to the straw cutting platform lifting cylinder through the second solenoid valve, and is used to control the lifting and lowering of the straw cutting platform lifting cylinder, thereby controlling the height of the cutting platform; The main controller is electrically connected to the straw cutting platform motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor through the solenoid valve group, and is used to control the opening and closing of the straw cutting platform motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor; The main controller is electrically connected to the electric push rod and is used to control the position of the electric push rod, thereby controlling the speed of the residual film machine; The main controller is electrically connected to the residual film cabin door opening and closing cylinder through the third solenoid valve, and is used to control the opening and closing of the residual film cabin door opening and closing cylinder, thereby controlling the opening and closing of the residual film cabin door.

2. A self-propelled multifunctional residual film machine speed and operation control system according to claim 1, characterized in that: Also includes the host computer; The host computer is electrically connected to the main controller; When driving in a straight line: The host computer is used to set the straight-line target vehicle speed, the straight-line target engine speed, the straight-line target film-forming height, and the straight-line target header height; The host computer is used to receive the judgment result of the hatch door opening and closing proximity switch, and the judgment result is that the residual film bin is full or the residual film bin is not full; The host computer is used to receive the actual film height collected by the film height sensor; The host computer is used to receive the actual header height collected by the header height sensor; The host computer is used to receive the actual electric push rod position collected by the electric push rod stroke sensor; The host computer is used to receive the actual speeds of the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor and the residual film baling motor respectively collected by the straw cutting table motor speed sensor, the straw baling motor speed sensor, the straw conveying motor speed sensor, the film lifting mechanism motor speed sensor and the residual film baling motor speed sensor, and determine whether there is an abnormality in the five actual speeds; The host computer is used to receive the actual wheel speed collected by the wheel speed sensor; When turning: The host computer is used to set the turning target vehicle speed, the turning engine target speed, the turning target film-lifting height, and the turning target cutting platform height.

3. A self-propelled multifunctional residual film machine speed and operation control system according to claim 2, characterized in that: The host computer is also used to receive engine speed, engine fuel consumption, and engine torque sent by the control unit VCU.

4. A self-propelled multifunctional residual film machine speed and operation control system according to claim 3, characterized in that: Also includes positioning module; The main controller is electrically connected to the positioning module and is used to obtain the real-time position of the multifunctional residual film machine and determine whether the turning mark point is reached.

5. A self-propelled multifunctional residual film machine speed and operation control system according to claim 4, characterized in that: Also includes warning lights; The main controller is electrically connected to the alarm light, which is used to display whether there is any abnormality in the actual rotation speed of the straw cutting table motor, straw baling motor, straw conveying motor, film lifting mechanism motor, and residual film baling motor.

6. A self-propelled multifunctional residual film machine speed and operation control system according to claim 5, characterized in that: Also includes voltage regulator module; The vehicle-mounted power supply supplies power to the main controller through the voltage stabilizing module.

7. A self-propelled multifunctional residual film machine speed and operation control system according to claim 6, characterized in that: The main controller adopts C490 controller.

8. A self-propelled multifunctional residual film machine speed and operation control system according to claim 7, characterized in that: The host computer communicates with the main controller based on the CAN bus.

9. A method for controlling the speed and operation of a self-propelled multifunctional residual film machine, which is implemented based on the control system according to any one of claims 5 to 8, characterized in that: The following steps are involved: S1: Control the ignition of the residual film machine; Control the engine speed to the target engine speed for straight travel; start the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor; adjust the film lifting mechanism to the target film lifting height for straight travel; adjust the cutting table mechanism to the target cutting table height for straight travel; Control the vehicle speed to the target speed for straight driving; S2: During straight operation: determine whether the residual film bin is full. If full, control the residual film bin door to open and unload the film. Determine whether the actual speed of the straw cutting table motor, straw baling motor, straw conveying motor, film lifting mechanism motor, and residual film baling motor is lower than the working value. If so, the residual film machine is controlled to stop working and the alarm light is controlled to sound an alarm; Determine whether the turning mark point has been reached. If reached, control the engine speed to the turning engine target speed; turn off the straw cutting table motor, the straw baling motor, the straw conveying motor, the film lifting mechanism motor, and the residual film baling motor; adjust the film lifting mechanism to the turning target film lifting height; adjust the cutting table mechanism to the turning target cutting table height; control the residual film bin hatch to open and unload the film; Control the vehicle speed to the target turning speed, start turning and proceed to the next line of work; S3: Repeat S1-S2 continuously until all operations are completed and the residual film machine is controlled to shut down.

10. A speed and operation control method for a self-propelled multifunctional residual film machine according to claim 9, characterized in that: Vehicle speed, film lifting height and cutting platform height are controlled based on PID algorithm with anti-integral saturation and differential filtering.

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