A force-position coordinated control system for hilly land tractor

Abstract

The application discloses a force-position adjustment and cooperative control system of a hilly land tractor, which comprises a resistance sensing module, a data analysis module, a force-position adjustment module and a feedback calibration module. The resistance sensing module collects operation parameters of a plowing formula in real time and calculates plowing resistance in real time. The data analysis module generates a force-position adjustment demand signal in combination with a resistance threshold and an optimal plowing depth interval. The force-position adjustment module generates a plowing depth adjustment instruction preferentially and synchronously matches a traction power adjustment instruction for cooperative execution. The feedback calibration module monitors parameters after adjustment and generates a calibration index feedback to the data analysis module, triggering optimization of the plowing depth adjustment parameters. Through cooperative adjustment of the plowing depth and the traction power, the application realizes accurate self-adaptive regulation and control of the plowing depth under the driving of the plowing resistance, forms a closed-loop adjustment mechanism of "sensing-analysis-adjustment-calibration-optimization", and effectively improves the accuracy and stability of the plowing depth adjustment.

Description

Technical Field

[0001] This invention relates to the field of tractor plowing stability control technology, and in particular to a force-position adjustment coordinated control system for hilly and mountainous tractors. Background Technology

[0002] Hilly and mountainous areas are important agricultural land resources in my country. Their soil properties are varied and the slopes of the plots are undulating. When tractors are used for plowing, the plowing resistance is affected by factors such as soil specific resistance, plowing depth, and plowing width, exhibiting dramatic dynamic changes.

[0003] Currently, the force and position adjustments for tractor plowing are mostly independent control modes, which easily leads to mismatch between plowing depth and resistance. Excessive plowing depth can cause overload of plowing resistance, slippage of the unit, or engine speed drop, while insufficient plowing depth results in insufficient resistance and substandard work quality. At the same time, traditional adjustment systems lack a closed-loop feedback calibration mechanism centered on plowing depth matching. The adjustment parameters cannot be adaptively optimized according to the dynamic relationship between resistance and plowing depth. Manual operation is cumbersome and labor-intensive, making it difficult to adapt to the operational needs of different tractor models and plows, and also unable to meet the precise plowing depth control requirements of tractors under complex working conditions. Summary of the Invention

[0004] In view of the aforementioned defects in the existing tractor plowing stability control, the purpose of this invention is to propose a force-position adjustment coordinated control system for hilly and mountainous tractors.

[0005] To achieve the aforementioned objectives, the technical solution adopted by the present invention is: a force-position adjustment and coordinated control system for hilly and mountainous tractors, comprising: a resistance sensing module, a data analysis module, a force-position adjustment module, and a feedback calibration module; The resistance sensing module is used to monitor the tractor operating parameters in the plowing resistance formula, calculate the plowing resistance value in real time, and output it to the data analysis module. The data analysis module is used to compare the received plowing resistance value with the preset plowing resistance threshold, and combine it with the collected agricultural implement operation position parameters to generate a force-position adjustment demand signal with plowing depth adjustment as the core, and output the force-position adjustment demand signal to the force-position adjustment module. The force-position adjustment module is used to generate tillage depth adjustment commands for the hydraulic suspension mechanism and force adjustment commands for the tractor traction power based on the received force-position adjustment demand signals, and to generate coordinated adjustment commands to send to the corresponding actuators. The feedback calibration module is used to monitor the plowing resistance value and actual plowing depth parameters after the actuator executes the plowing depth adjustment command and force adjustment command. It generates calibration indicators by comparing the force-position adjustment demand signal and feeds the calibration indicators back to the data analysis module, which then optimizes the plowing depth adjustment parameters.

[0006] Furthermore, the resistance sensing module includes: a plow body number calibration unit, a specific resistance acquisition unit, a resistance calculation unit, a tillage width sensor, a tillage depth sensor, and a position sensor. The tractor operating parameters include plowing resistance, plow body number, plowing specific resistance, plow body tillage width, and actual tillage depth.

[0007] Furthermore, the formula for calculating plowing resistance is: Where F is the plowing resistance, Z is the number of plow bodies, B is the plowing width of a single plow body in the plow, H is the plowing depth, and K is the plowing resistance per unit area of ​​soil.

[0008] Furthermore, the force-position adjustment module generates coordinated control commands including: Based on the received force-position adjustment demand signal, the preset collaborative control rule library is invoked; Based on the preset collaborative control rule library, the tillage depth adjustment strategy is matched and the tillage depth adjustment command of the hydraulic suspension mechanism is generated. Then, the traction power adjustment strategy is matched synchronously to generate the force adjustment command for adjusting the engine power or the thrust of the hydraulic traction system.

[0009] Furthermore, the calibration metrics generated in the feedback calibration module include: After the coordinated adjustment command is executed and the displacement of the hydraulic suspension system is stable, the latest plowing resistance value and actual plowing depth parameters are obtained. These are compared with the preset threshold range and the optimal plowing depth range to determine whether the plowing depth adjustment is adapted to the change in plowing resistance. If the adjustment is deemed effective, insufficient, or excessive, it is used as a calibration indicator and fed back to the data analysis module.

[0010] Furthermore, the data analysis module optimizes the tillage depth adjustment parameters, including: if the adjustment is insufficient, increasing the tillage depth adjustment amplitude by 5%-15% of the current tillage depth amplitude; if the adjustment is excessive, decreasing it by the same proportion; if the adjustment is effective, keeping the parameters unchanged. The optimized core tillage depth adjustment parameters are updated to the system adjustment parameter library in real time.

[0011] Compared with the prior art, the present invention has the following beneficial effects: (1) Breaking the traditional independent control mode of force adjustment and position adjustment, generating tillage depth adjustment command and synchronously matching traction power adjustment command, tillage depth adjustment and traction power adaptation are executed in a coordinated manner, solving the problem of fixed adjustment parameters and poor tillage depth adaptability of traditional systems, continuously iterating and optimizing tillage depth adjustment strategy, improving the robustness of the system and tillage depth adaptability to complex working conditions.

[0012] (2) After executing the adjustment command, the resistance and tillage depth parameters are quickly monitored, the adjustment effect is determined, and calibration indicators are generated and fed back to the data analysis module. The tillage depth adjustment amplitude is dynamically adjusted to achieve adaptive optimization of the adjustment parameters and update them to the system parameter library, forming a closed-loop adjustment mechanism of "sensing-analysis-adjustment-calibration-optimization", which effectively improves the accuracy and stability of tillage depth adjustment.

[0013] (3) The entire process of plowing resistance sensing, plowing depth adjustment and power matching is fully automated, without the need for real-time manual intervention to adjust plowing depth and traction power, effectively reducing the workload and skill requirements of operators. Attached Figure Description

[0014] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the accompanying drawings used in the description of the embodiments or the prior art will be briefly introduced below.

[0015] Figure 1 This is a schematic diagram of the principle of a force-position adjustment coordinated control system for a hilly and mountainous tractor according to the present invention. Figure 2 for Figure 1 Flowchart of the data analysis module; Figure 3 for Figure 1 Flowchart of the force-position adjustment module. Detailed Implementation

[0016] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below in conjunction with specific embodiments and accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Therefore, the following detailed description of the embodiments provided in the accompanying drawings is not intended to limit the scope of the claims.

[0017] Please see Figures 1-3 This invention discloses a force-position adjustment and coordinated control system for hilly and mountainous tractors, including: a resistance sensing module, a data analysis module, a force-position adjustment module, and a feedback calibration module; the engine control unit (ECU) is arranged on the crossbeam of the tractor frame inside the engine compartment, and each module realizes data interaction and command transmission through the vehicle CAN bus.

[0018] The resistance sensing module is used to monitor the operating parameters in the plowing resistance formula, calculate the plowing resistance value in real time, and output the key operating parameters and plowing resistance value to the data analysis module. Furthermore, the resistance sensing module includes a plow body number calibration unit, a specific resistance acquisition unit, a resistance calculation unit, a tillage width sensor, a tillage depth sensor, and a position sensor. The tractor operating parameters include plowing resistance, plow body number, plowing specific resistance, plow body tillage width, and actual tillage depth.

[0019] The resistance sensing module, as the system's input, calibrates and stores the number of plow bodies through the plow body number calibration unit. The specific resistance acquisition unit, based on information such as soil type, moisture, and compaction degree in the working area, calls upon the built-in soil specific resistance database to output the corresponding plowing specific resistance value per unit area. The tillage width sensor, positioned at the connection between the plowshare and the plow column, detects and collects the single-plow body tillage width in real time. The tillage depth sensor, mounted on the depth-limiting wheel height adjustment bracket, directly calculates the actual tillage depth of the plow body by detecting the height displacement of the depth-limiting wheel. The position sensor... The hydraulic suspension lifting cylinders, arranged on both sides of the tractor's rear axle, have their detection ends connected to the cylinder piston rods. By detecting the extension and retraction stroke of the cylinders, the lifting displacement of the suspension mechanism can be directly obtained. The resistance calculation unit continuously collects relevant parameters of plowing operations at the set frequency of each sensor, transmits the data to the resistance calculation unit in real time, and calls the plowing resistance formula to calculate the plowing resistance value in real time, thus determining the magnitude of the plowing resistance corresponding to the current plowing depth. Moreover, the acquisition frequency of each sensor is synchronized with the resistance calculation frequency and is not lower than 10Hz to meet the real-time requirements of dynamic changes in plowing resistance in hilly and mountainous areas.

[0020] The formula for calculating plowing resistance is: Where F is the plowing resistance, Z is the number of plow bodies, B is the plowing width of a single plow body in the plow, H is the plowing depth, and K is the plowing resistance per unit area of ​​soil.

[0021] The data analysis module is used to compare the real-time plowing resistance value with the preset plowing resistance threshold, and combine the collected agricultural implement operation position parameters to generate a force-position adjustment demand signal with plowing depth adjustment as the core, and output the adjustment demand signal to the force-position adjustment module. Specifically, the data analysis module has built-in plowing resistance threshold range and optimal plowing depth range calibrated based on typical plowing conditions in hilly and mountainous areas. The plowing resistance threshold range includes a lower limit value of resistance and an upper limit value of resistance not exceeding 80% of the rated traction resistance of the tractor.

[0022] The data analysis module generates the force-position regulation demand signal as follows: Compare real-time plowing resistance values ​​with resistance threshold ranges: If the resistance value is greater than the upper limit value, it is determined that the excessive tillage depth has caused resistance overload, generating a demand for drag reduction adjustment to decrease the tillage depth. If the resistance value is less than the lower limit, it is determined that the tillage depth is too small, resulting in insufficient resistance and generating a demand for increased resistance adjustment by increasing the tillage depth. If the resistance value is within the range, the resistance state is determined to be optimal, and the actual tillage depth state is determined. The actual tillage depth parameters collected in real time are compared with the preset optimal tillage depth range to complete the tillage depth state determination. If the tillage depth parameter falls within the optimal range, it is determined that the tillage depth and resistance are optimally matched, and there is no need for adjustment. The system then returns to continue real-time sensing of resistance and tillage depth.

[0023] If the tillage depth parameter deviates from the optimal range, a position calibration requirement for tillage depth fine-tuning is generated, and the tillage depth fine-tuning amplitude is calibrated according to the degree of parameter deviation. Based on the type of adjustment demand and the degree of parameter deviation, the core amplitude of tillage depth adjustment and the corresponding traction power adjustment amplitude are calibrated and integrated into a force-position adjustment demand signal that includes tillage depth adjustment direction, tillage depth adjustment amplitude, force adjustment direction, and force adjustment amplitude.

[0024] The force-position adjustment module is used to generate, firstly, the tillage depth adjustment command of the hydraulic suspension mechanism after parsing the force-position adjustment demand signal, and simultaneously generate the force adjustment command of the tractor traction power, and send them to the corresponding actuators in a coordinated manner. Specifically, the force-position adjustment module has a built-in collaborative control rule library. After receiving the adjustment demand signal transmitted by the data analysis module, it parses the adjustment demand signal, clarifies the type of tillage depth adjustment, the direction of tillage depth adjustment, the amplitude of tillage depth adjustment, and the corresponding force adjustment parameters, and then calls the rule library. It matches the tillage depth adjustment strategy with the tillage depth adjustment amount as the core and prioritizes the generation of tillage depth adjustment instructions for the hydraulic suspension mechanism. Then, it synchronously matches the traction power adjustment strategy to generate force adjustment instructions for engine power or hydraulic traction system thrust adjustment.

[0025] When a drag reduction adjustment requirement is generated, the tillage depth adjustment command is the hydraulic suspension mechanism lift command, and the force adjustment command is the traction power reduction command, which directly reduces the plowing resistance by reducing the tillage depth. When a drag adjustment requirement is generated, the tillage depth adjustment command is a hydraulic suspension mechanism stroke reduction command, and the force adjustment command is a traction power increase command, which directly increases the plowing resistance by increasing the tillage depth. When the plowing resistance value is within the resistance threshold range and the actual plowing depth parameter deviates from the optimal plowing depth range, only a plowing depth fine-tuning command is generated and the traction power remains unchanged. Two commands are sent synchronously, and resistance control is achieved by adjusting the tillage depth to change the core variable of the formula. The adjustment amplitude is positively correlated with the degree of parameter deviation. A PID control algorithm is used to prioritize the calculation of the lifting displacement amplitude of the hydraulic suspension mechanism and simultaneously calculate the adjustment amplitude of the traction power. The sensitivity of force-position control can be controlled by adjusting the magnitude of the PID parameter amplitude. Each instruction is sent to the corresponding actuator via the vehicle's CAN bus, namely the tractor's hydraulic suspension system and engine control unit (ECU). The hydraulic suspension system directly changes the core control object, tillage depth, by raising and lowering the tractor to adapt to changes in tillage resistance. The engine control unit (ECU) synchronously adjusts the power output to adapt to changes in tillage depth.

[0026] The feedback calibration module monitors the plowing resistance value and actual tillage depth parameters after the command is executed, compares them with the adjustment demand signal to generate calibration indicators, and feeds the calibration indicators back to the data analysis module, which triggers the optimization of tillage depth adjustment parameters.

[0027] Specifically, after the adjustment command is executed and the displacement of the hydraulic suspension system is stable, the feedback calibration module obtains the latest plowing resistance value and actual plowing depth parameters through the resistance sensing module, compares them with the preset threshold range and the optimal plowing depth range, and judges whether the plowing depth adjustment is accurately adapted to the change in plowing resistance. When the latest tillage depth parameters and plowing resistance values ​​fall within the optimal range and resistance threshold range, respectively, the adjustment is deemed effective. When the latest plowing resistance value deviates from the resistance threshold range, that is, it is still higher than the upper limit of resistance or still lower than the lower limit of resistance, it is determined that the plowing depth adjustment is insufficient. When the latest plowing resistance value changes from being higher than the upper limit of resistance to being lower than the lower limit of resistance, or changes from being lower than the lower limit of resistance to being higher than the upper limit of resistance, it is determined that the plowing depth adjustment is excessive. The results, which determine whether the adjustment is effective, insufficient, or excessive, are used as calibration indicators and fed back to the data analysis module in real time via the vehicle's CAN bus.

[0028] Specifically, after receiving the indicators, the data analysis module triggers adaptive optimization of the adjustment parameters, achieving closed-loop iterative adjustment in the following way: When the calibration index indicates insufficient tillage depth adjustment, the tillage depth adjustment amplitude is increased by a preset ratio, and the traction power adjustment amplitude is simultaneously fine-tuned to ensure that the precise change in tillage depth compensates for the deviation in plowing resistance. When the calibration index indicates excessive tillage depth adjustment, the tillage depth adjustment amplitude is reduced by a preset ratio, and the traction power adjustment amplitude is adjusted simultaneously to avoid excessive tillage depth adjustment causing plowing resistance to exceed the threshold range. If the received calibration index indicates that the adjustment is effective, keep the current tillage depth adjustment parameter unchanged to maintain the dynamic balance between tillage depth and plowing resistance. After optimizing the tillage depth adjustment parameters, the parameters are updated to the system adjustment parameter library in real time to continue real-time sensing of resistance and tillage depth, thereby achieving closed-loop continuous adjustment.

[0029] This invention achieves precise adaptive control of tillage depth under the drive of plowing resistance by coordinating the adjustment of tillage depth and traction power, forming a closed-loop adjustment mechanism of "sensing-analysis-adjustment-calibration-optimization", which effectively improves the accuracy and stability of tillage depth adjustment.

[0030] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort, such as modifications to the technical solutions described in the following embodiments or equivalent substitutions of some technical features, are within the scope of protection of the present invention.

Claims

1. A force-position adjustment coordinated control system for a hilly and mountainous tractor, characterized in that, include: Resistance sensing module, data analysis module, force-position adjustment module, and feedback calibration module; The resistance sensing module is used to monitor the tractor operating parameters in the plowing resistance formula, calculate the plowing resistance value in real time, and output it to the data analysis module. The data analysis module is used to compare the received plowing resistance value with the preset plowing resistance threshold, and combine it with the collected agricultural implement operation position parameters to generate a force-position adjustment demand signal with plowing depth adjustment as the core, and output the force-position adjustment demand signal to the force-position adjustment module. The force-position adjustment module is used to generate a tillage depth adjustment command for the hydraulic suspension mechanism and a force adjustment command for the tractor traction power based on the received force-position adjustment demand signal, and to generate a coordinated adjustment command for both and send it to the corresponding actuator. The feedback calibration module is used to monitor the plowing resistance value and actual tillage depth parameters after the actuator executes the coordinated adjustment command, generate calibration indicators based on the force-position adjustment demand signal, and feed the calibration indicators back to the data analysis module, which then optimizes the tillage depth adjustment parameters.

2. The force-position adjustment coordinated control system for a hilly and mountainous tractor according to claim 1, characterized in that, The resistance sensing module includes: a plow body number calibration unit, a specific resistance acquisition unit, a resistance calculation unit, a tillage width sensor, a tillage depth sensor, and a position sensor. Tractor operating parameters include plowing resistance, plow body number, plowing specific resistance, plow body tillage width, and actual tillage depth.

3. The force-position adjustment coordinated control system for a hilly and mountainous tractor according to claim 2, characterized in that, The plow body calibration unit is used to acquire the plow type and number of plow bodies and perform pre-calibration and storage; the specific resistance acquisition unit is used to call the built-in soil specific resistance database based on the soil type, moisture, and compaction information of the working area and output the corresponding plowing specific resistance value per unit area; the tillage width sensor is used to detect and acquire the single plow body tillage width of the working plow in real time; the tillage depth sensor is used to collect the actual tillage depth of the plow in real time; and the position sensor is used to acquire the implement working position parameters of the tractor hydraulic suspension mechanism. The resistance calculation unit is used to continuously collect relevant parameters of plowing operation according to the set frequency of each sensor, transmit the data to the resistance calculation unit in real time, and call the plowing resistance formula to calculate the plowing resistance value in real time.

4. The force-position adjustment and coordinated control system for a hilly and mountainous tractor according to claim 3, characterized in that, The formula for calculating plowing resistance is: Where F is the plowing resistance, Z is the number of plow bodies, B is the plowing width of a single plow body in the plow, H is the plowing depth, and K is the plowing resistance per unit area of ​​soil.

5. The force-position adjustment and coordinated control system for a hilly and mountainous tractor according to claim 1, characterized in that, The force-position adjustment module generates the following coordinated control commands: Based on the received force-position adjustment demand signal, the preset collaborative control rule library is invoked; Based on the preset collaborative control rule base, the tillage depth adjustment strategy is matched and the tillage depth adjustment command of the hydraulic suspension mechanism is generated. Then, the traction power adjustment strategy is matched synchronously to generate the tractor traction power force adjustment command.

6. The force-position adjustment coordinated control system for a hilly and mountainous tractor according to claim 1, characterized in that, The calibration metrics generated in the feedback calibration module include: After the coordinated adjustment command is executed and the displacement of the hydraulic suspension system is stable, the latest plowing resistance value and actual plowing depth parameters are obtained. They are compared with the preset threshold range and the optimal plowing depth range to determine whether the plowing depth adjustment is adapted to the change in plowing resistance. If the adjustment is deemed effective, insufficient, or excessive, it is used as a calibration indicator and fed back to the data analysis module.

7. The force-position adjustment and coordinated control system for a hilly and mountainous tractor according to claim 6, characterized in that, The determination of calibration indicators specifically includes: When the latest tillage depth parameters and plowing resistance values ​​fall within the optimal range and resistance threshold range, respectively, the adjustment is deemed effective. When the latest plowing resistance value deviates from the resistance threshold range, it is determined that the plowing depth adjustment is insufficient. If the latest plowing resistance value changes from above the upper limit to below the lower limit, or from below the lower limit to above the upper limit, it is determined that the plowing depth adjustment is excessive.

8. The force-position adjustment coordinated control system for a hilly and mountainous tractor according to claim 7, characterized in that, The data analysis module optimizes the tillage depth adjustment parameters, including: When the calibration index indicates insufficient tillage depth adjustment, increase the tillage depth adjustment range by 5%-15% of the current tillage depth range; When the calibration index indicates excessive tillage depth adjustment, reduce the tillage depth adjustment amplitude by 5%-15% of the current tillage depth amplitude. The calibration index is effective, and the current tillage depth parameter remains unchanged; The optimized tillage depth adjustment parameters are updated to the system adjustment parameter library in real time.

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