Agricultural machine chassis domain controller multi-stage pulse timing adaptive suppression method

Abstract

This application provides a multi-level pulse timing adaptive suppression method for agricultural machinery chassis domain controllers, comprising: acquiring the current heat integral count value and the measured temperature rise of the motor in the multi-level pulse timing; when a rheological unloading event is triggered and the measured temperature rise of the motor does not reach the rated temperature rise limit, identifying and deducting the erroneous accumulation part caused by the current rheological unloading event in the current heat integral count value to obtain a reset heat integral value; updating the state of the heat integral protection module by resetting the heat integral value, adjusting the motor drive control parameters, and determining the complete release condition of the next level drive pulse; transmitting the corresponding pulse control signal to the actuator of the agricultural machinery walking drive motor according to the complete release condition, and collecting the actual torque response data fed back by the motor actuator; judging whether the drive torque continuity is maintained based on the actual torque response data; if it is not maintained, returning to adjust the control parameters and release condition; if it is maintained, generating a qualified judgment result.

Description

Technical Field

[0001] This invention relates to the field of information technology, and in particular to a multi-level pulse timing adaptive suppression method for agricultural machinery chassis domain controllers. Background Technology

[0002] When agricultural machinery operates under high loads in hilly and mountainous terrain, its wheels are prone to getting stuck in slippery mud and potholes after rain. The chassis domain controller must continuously output stable torque to ensure the machinery can easily get out of trouble and continue operating. After rain, the muddy soil in hilly and mountainous areas undergoes a thinning rheological process due to repeated compression by the wheels and the high ambient temperature. The muddy soil changes from a thick state to a thin, fluid state, directly causing a sharp decrease in adhesion between the wheels and the muddy soil. Under this condition, the motor exhibits a typical characteristic of a sharp drop in current and a simultaneous increase in speed, representing a normal rheological unloading condition unique to wet and slippery conditions in hilly and mountainous terrain. The existing thermal integration protection module of the agricultural machinery chassis domain controller relies solely on motor current and measured temperature rise data to execute protection logic, completely lacking a mechanism to identify rheological unloading conditions. It cannot effectively distinguish between rheological unloading caused by mud and soil thinning and normal unloading caused by mechanical faults such as gear loosening. The two exhibit highly similar external current and speed characteristics, leading to a defect in the control system. The thermal integration protection module mistakenly identifies rheological unloading as an abnormal event, continuing to accumulate false thermal integration counts even when the measured motor temperature rise is far below the rated temperature rise limit. This prematurely activates power limiting, forcibly interrupting drive torque output. During the critical stage of getting out of trouble, the agricultural machinery suddenly loses torque support, causing the wheels to spin and slip, directly triggering a functional vehicle malfunction and preventing continuous extrication operations. False thermal protection triggering disrupts multi-level pulse timing control logic. False thermal integration states cause abnormal adjustments to motor drive control parameters and the release conditions of the next-level drive pulses. This creates a closed-loop conflict between the thermal integration protection module and the motor actuator, resulting in asynchronous mismatch between drive torque output and speed feedback dynamic response. Drive torque continuity cannot be maintained, and pulse timing control fails. In summary, the aforementioned problems repeatedly occur in hilly and mountainous areas after rain and during continuous rainy seasons, significantly reducing agricultural machinery operating efficiency, increasing secondary rescue costs, and severely restricting the operational reliability and continuous operation capability of intelligent agricultural machinery. Existing control schemes cannot solve the technical problems of heat integral error accumulation, pulse timing mismatch, and torque continuity interruption under rheological unloading conditions. Therefore, there is an urgent need for a multi-level pulse timing control method for agricultural machinery chassis domain controllers adapted to the characteristics of rainy, muddy, and potholed operations in hilly and mountainous areas. Summary of the Invention

[0003] This invention provides a multi-level pulse timing adaptive suppression method for agricultural machinery chassis domain controllers, mainly comprising: S1. The processor of the agricultural machinery chassis domain controller acquires the real-time operating data collected by the sensors of the agricultural machinery walking drive motor and performs low-pass filtering preprocessing to obtain smooth monitoring data. S2. Based on the smoothed monitoring data, identify the trends of current steep drop and speed climb, and determine whether there is a state combination where the two occur synchronously; S3. If the state combination that occurs synchronously meets the preset trigger conditions, determine to trigger the mud thinning rheological unloading event; S4. According to the event trigger status, obtain the parameters related to the motor thermal load and compare them, identify and correct the mis-accumulation amount of the thermal integrator value, and obtain the reset thermal integration status value; S5. Update the status of the thermal integration protection module through the reset thermal integration status value, adjust the motor drive control parameters corresponding to the multi-stage pulse timing, and determine the release conditions for the next-level drive pulse; S6. Transmit the pulse control signal to the motor actuator according to the release conditions of the next-level drive pulse, and collect the actual torque response data feedback by the actuator; S7. Based on the actual torque response data, judge whether the continuity of the driving torque is maintained. If it is not maintained, return to S5 to adjust the parameters and release conditions. If it is maintained, generate a qualified judgment result; S8. According to the qualified judgment result, perform state fusion on the torque response data and the smoothed monitoring data, and judge whether the dynamic responses of the driving torque and the speed feedback match. If they do not match, return to S5 to adjust and re-execute S6 to S8. If they match, maintain the current control logic.

[0004] Further, obtaining the real-time operation data collected by the sensors supporting the agricultural machinery walking drive motor through the processor of the agricultural machinery chassis domain controller and performing low-pass filtering preprocessing to obtain the smoothed monitoring data includes: Connect the current and speed sensors of the motor through the data acquisition interface of the domain controller, read the instantaneous current of the motor stator winding and the instantaneous speed of the output shaft at a preset period, and store them in the cache queue according to the time stamp to form the original sequence; Perform low-pass filtering on the original sequence using a first-order lag filter, perform weighted averaging with the preset filtering coefficient α as the weight of the current sampling point and 1-α as the weight of the filtering output value at the previous moment to obtain the smoothed current and speed monitoring data, and merge them into the smoothed monitoring data.

[0005] Further, the identifying the trends of current steep drop and speed climb based on the smoothed monitoring data and determining whether there is a state combination where the two occur synchronously includes: Calculate the current change slope at adjacent sampling moments based on the smoothed current monitoring data in the smoothed monitoring data. If the slope is negative and its absolute value exceeds the preset current steep drop threshold within a continuous preset number of sampling periods, the current steep drop trend is identified; Calculate the speed change slope based on the smoothed speed monitoring data in the smoothed monitoring data. If the slope is positive and exceeds the preset speed climb threshold within a continuous preset number of sampling periods, the speed climb trend is identified; If the absolute value of the time difference between the starting times of the two trends is less than the preset synchronization window threshold, it is determined that the two trends occur synchronously.

[0006] Furthermore, if the synchronously occurring state combination satisfies the preset triggering condition, the mud thinning rheological unloading event is determined to be triggered, including: The state combination in which the current drop trend and the speed increase trend occur simultaneously is marked as the rheological unloading identification signal and the generation time is recorded. The uninterrupted duration of the identified signal is continuously monitored and accumulated. If the duration exceeds the preset minimum duration threshold and the state combination is still maintained, the mud thinning rheological unloading event is determined to be triggered. If the state combination disappears before the time limit is reached, the identification signal is cancelled and no event is triggered.

[0007] Furthermore, the step of acquiring and comparing relevant parameters of the motor thermal load based on the event triggering state, identifying and correcting the erroneous accumulation of the thermal integral count value, and obtaining the reset thermal integral state value includes: Read the current heat integral count value from the heat integral protection module, obtain the measured temperature rise of the stator winding from the motor temperature sensor, and read the preset rated temperature rise limit; If the mud thinning rheological unloading event has been triggered and the measured temperature rise is less than the rated temperature rise limit, it is determined that there is an accumulation of heat integral errors. By tracing back the historical cumulative records, the cumulative interval from the event trigger time to the end time is located. If the mud thinning rheological unloading event is still ongoing, the latest sampling time when this process is executed is located, and the sum of the heat integral increments within the interval is extracted as the erroneous cumulative amount. The reset heat integral state value is obtained by subtracting the erroneous accumulation from the current count value.

[0008] Furthermore, the step of updating the thermal integration protection module status by resetting the thermal integration status value, adjusting the motor drive control parameters corresponding to the multi-level pulse timing, and determining the release condition of the next-level drive pulse includes: Write the reset thermal integration status value into the status register of the thermal integration protection module to complete the module status update; Calculate the difference between the reset value and the preset power limit start threshold, and adjust the torque output limit and pulse width modulation duty cycle upper limit in the motor drive control parameters according to the linear positive correlation rule that the larger the difference, the larger the adjustment. Based on the adjusted parameters, determine the next-level drive pulse release conditions, including pulse trigger time, duration, and amplitude range.

[0009] Furthermore, the step of transmitting a pulse control signal to the motor actuator under the next-level drive pulse release condition and collecting actual torque response data fed back by the actuator includes: When the first-level drive pulse release condition is met, a pulse width modulation control signal is transmitted to the motor actuator through the domain controller's pulse output interface. The actual torque response data of the actuator is collected by the torque sensor that is matched with the motor output shaft. The actual torque response data includes the torque amplitude and the torque change sequence, and is stored in the domain controller cache according to the timestamp.

[0010] Furthermore, the step of determining whether the drive torque continuity is maintained based on actual torque response data, if not maintained, returns to S5 to adjust parameters and release conditions; if maintained, a qualified judgment result is generated, including: Based on actual torque response data, the absolute value of the torque amplitude difference between adjacent sampling times is calculated to obtain the torque fluctuation amplitude. If the fluctuation amplitude exceeds the preset continuous fluctuation threshold, it is determined that the drive torque continuity has not been maintained; If the fluctuation range does not exceed the threshold, and the torque amplitude fluctuates stably around the target torque value preset in this process within a continuous preset number of sampling periods, the continuity is determined to be maintained, and a qualified judgment result is generated.

[0011] Furthermore, based on the pass / fail determination result, the torque response data and smoothing monitoring data are fused to determine whether the dynamic response of the drive torque and speed feedback match. If they do not match, the process returns to S5 for adjustment and re-executes S6 to S8. If they match, the current control logic is maintained, including: Based on the pass / fail determination results, obtain the torque amplitude sequence and smooth speed sequence, and align them by timestamps to obtain paired data; The torque and speed values ​​at the same moment are weighted and summed according to the preset torque weight and speed weight to obtain the dynamic response state value and state fusion result sequence, and the sum of the two weights is 1; Calculate the rate of change of state values ​​at adjacent time points. If the rate of change exceeds the preset synchronization matching threshold, it is determined that the dynamic response is not matched. If the rate of change does not exceed the threshold and the sequence shows a stable convergence trend, the dynamic response is determined to be matched. S7 and S8 have independent preset maximum number of cycles for parameter adjustment. When the number of cycles in a single adjustment cycle reaches the corresponding preset maximum number of cycles and the qualification conditions of the corresponding process are still not met, the fault protection logic is triggered, the current process is terminated, and a fault warning signal is sent to the agricultural machinery vehicle controller.

[0012] Furthermore, the method of identifying the trends of sharp current drops and speed increases based on smoothed monitoring data, and determining whether there is a synchronous combination of the two, also includes: Based on smoothed current and speed monitoring data, the trends of current and speed changes are identified respectively, and the start time and magnitude of the two trends are obtained. If the time difference between the start times of the two trends is less than the preset synchronization window threshold, and the changes in current and speed both meet the corresponding preset amplitude thresholds, it is determined that the two trends occur synchronously.

[0013] The technical solutions provided by the embodiments of the present invention may include the following beneficial effects: This invention discloses a multi-level pulse timing adaptive suppression method for agricultural machinery chassis domain controllers. Addressing the unique operational scenario of drive torque continuity mismatch and heat integration error accumulation caused by mud thinning and rheological changes during agricultural machinery operation, this method acquires current and speed data in real time and performs low-pass filtering preprocessing to identify the synchronous characteristics of speed increases and current drops, thus determining the triggering of a rheological unloading event. When the event is triggered and the motor temperature rise has not reached the limit, this invention deducts the heat integration error accumulation, updates the protection module state, adjusts drive control parameters, ensures optimized pulse release conditions, and resolves the asynchronous contradiction of dynamic response based on the state fusion of torque response and speed data, ultimately maintaining drive torque continuity. This invention, through the deep integration of multi-level pulse timing adaptive control and rheological unloading identification, significantly improves the drive stability and thermal protection accuracy of agricultural machinery in complex mud environments, ensuring operational efficiency and equipment safety. Attached Figure Description

[0014] Figure 1 This is a flowchart of a multi-level pulse timing adaptive suppression method for an agricultural machinery chassis domain controller according to the present invention.

[0015] Figure 2 This is a schematic diagram of a multi-level pulse timing adaptive suppression method for an agricultural machinery chassis domain controller according to the present invention.

[0016] Figure 3 This is another schematic diagram of a multi-level pulse timing adaptive suppression method for an agricultural machinery chassis domain controller according to the present invention. Detailed Implementation

[0017] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be described in detail below with reference to the accompanying drawings and specific embodiments.

[0018] like Figures 1-3 This embodiment of a multi-level pulse timing adaptive suppression method for an agricultural machinery chassis domain controller may specifically include: Step S1: The real-time current and speed of the agricultural machinery are obtained from the sensors of the agricultural machinery walking drive motor through the domain controller and low-pass filtered preprocessing is performed to obtain smooth current and speed monitoring data.

[0019] Connect the current sensor and the speed sensor supporting the agricultural machinery walking drive motor through the data acquisition interface of the domain controller. Read the instantaneous current value of the walking drive motor from the current sensor and the instantaneous speed value of the walking drive motor from the speed sensor according to a preset sampling period. The instantaneous current value is stored in the current cache queue of the domain controller in the order of time stamps, and the instantaneous speed value is stored in the speed cache queue of the domain controller in the order of time stamps. Form an original current sequence according to the current cache queue and form an original speed sequence according to the speed cache queue. For the original current sequence, perform low-pass filtering preprocessing using a first-order lag filter, use the preset current filtering coefficient as the weight ratio of the current sampling point, and perform a weighted average operation on each sampling point in the original current sequence and the current filtering output value at the previous moment to obtain smooth current monitoring data; for the original speed sequence, perform low-pass filtering preprocessing using a first-order lag filter, use the preset speed filtering coefficient as the weight ratio of the current sampling point, and perform a weighted average operation on each sampling point in the original speed sequence and the speed filtering output value at the previous moment to obtain smooth speed monitoring data.

[0020] The domain controller establishes a communication connection with the current sensor and the speed sensor supporting the agricultural machinery walking drive motor through the data acquisition interface. In one implementation, the current sensor uses a Hall effect current sensor, which is installed on the power supply line of the walking drive motor and is used to detect the working current flowing through the motor winding; the speed sensor uses a magnetoelectric speed sensor, which is installed at the end of the motor output shaft and obtains the motor rotation information by detecting the magnetic field change of the gear disk.

[0021] Specifically, the domain controller executes the data reading operation according to a preset sampling period, and sequentially reads the instantaneous current value from the current sensor and the instantaneous speed value from the speed sensor within each sampling period.

[0022] Exemplarily, the setting of the sampling period matches the response characteristics of the walking drive motor. Under the high-load operation condition in hilly and mountainous areas, the sampling period is set to 10ms - 20ms to capture the rapid changes in the motor operation state. The faster the motor response speed and the more complex the working condition, the sampling period should be appropriately shortened. The instantaneous current value carries the corresponding time stamp information and is sequentially written into the current cache queue opened in the domain controller memory in the order of time stamps; the instantaneous speed value also carries the time stamp information and is written into the speed cache queue in the order of time stamps. When the number of data points in the cache queue reaches the preset window length, the domain controller extracts all data points from the current cache queue to form an original current sequence and extracts all data points from the speed cache queue to form an original speed sequence.

[0023] In one embodiment, the first-order hysteresis filter is a recursive digital filter that works by linearly combining the original measurement value of the current sampling point with the filtered output value of the previous moment according to a specific weight ratio, thereby suppressing high-frequency noise components and preserving the trend of low-frequency signals. For filtering the original current sequence, the preset current filtering coefficient α ranges from 0.5 to 0.8. This value is set based on the fact that the motor current is easily affected by high-frequency noise caused by mud load fluctuations during operation in hilly and mountainous areas after rain. Specifically, a value of 0.6 to 0.8 is recommended for the unloading condition to improve signal tracking and timely capture of current changes during rheological unloading. A value of 0.5 to 0.6 is recommended for the flat and stable operation condition to enhance the filtering and noise reduction effect. This value range can ensure the filtering and noise reduction effect while avoiding excessive current signal tracking delay, which would prevent timely capture of current changes during rheological unloading. This coefficient represents the weight ratio of the original value of the current sampling point in the filtered output. For the first sampling point in the original current sequence, it is directly used as the initial filtered output value. For each subsequent sampling point, the original current value of the sampling point is multiplied by the current filtering coefficient to obtain the first component. The current filtered output value of the previous moment is multiplied by the complement of the current filtering coefficient to obtain the second component. The first component and the second component are added to obtain the current filtered output value at the current moment. The weighted average calculation described above iterates through all sampling points in the original current sequence to form smooth current monitoring data. For the original speed sequence, the same first-order hysteresis filtering method is used, with the preset speed filtering coefficient α ranging from 0.7 to 0.9. Since the motor speed signal fluctuation frequency is lower than the current signal, this value range can balance the smoothness of the speed signal with the sensitivity of identifying the rising trend. Under challenging conditions, the faster the speed rises, the more appropriately the filtering coefficient α can be adjusted to ensure timely trend identification. The preset speed filtering coefficient is used as the weight ratio to perform a weighted average calculation, forming smooth speed monitoring data.

[0024] It should be noted that the value of the filter coefficient directly affects the filtering effect. When the filter coefficient is small, the weight of the previous filtered output value is large, the filtered output follows the changes of the original signal more slowly, the filtering effect is stronger but the response delay is increased; when the filter coefficient is large, the weight of the original value of the current sampling point is large, the filtered output can follow the changes of the original signal quickly, but the ability to suppress high-frequency noise is weakened.

[0025] Step S2: Identify the current drop trend and the speed increase trend based on the current monitoring data and speed monitoring data, respectively.

[0026] Based on the smoothed current monitoring data, the slope of current change between adjacent sampling times is calculated. The calculation formula is: current change slope = (current value at the current sampling time - current value at the previous sampling time) / sampling period. If the current change slope is negative and its absolute value exceeds a preset current drop threshold, then a current drop trend is determined. Based on the smoothed speed monitoring data, the slope of speed change between adjacent sampling times is calculated. The calculation formula is: speed change slope = (speed value at the current sampling time - speed value at the previous sampling time) / sampling period. If the speed change slope is positive and exceeds a preset speed increase threshold, then a speed increase trend is determined.

[0027] In one possible implementation, the domain controller determines the sign and magnitude of the current change slope. If the current change slope is negative, it indicates that the current is decreasing. The controller further determines whether the absolute value of this negative value exceeds a preset current descent threshold. This preset current descent threshold is determined based on the rated current parameters of the agricultural machinery's drive motor, ensuring accurate identification of current drops caused by mud thinning while filtering out minor current drops due to normal load fluctuations. The threshold value ranges from -500% / s to -300% / s of the rated current. For higher motor rated power and current, the absolute value of the threshold can be appropriately increased to avoid misjudgments caused by normal load fluctuations. Conversely, for slower mud adhesion and smoother current decreases, the absolute value of the threshold can be appropriately decreased to avoid missing real rheological unloading conditions. If the threshold is exceeded, a current descent trend is confirmed at the current moment. Based on the smoothed speed monitoring data, the domain controller uses the same differential calculation method to obtain the speed change slope. If the slope of the speed change is positive, it indicates that the speed is increasing. Further analysis is performed to determine if this positive value exceeds a preset speed increase threshold. This threshold typically ranges from 100% / s to 200% / s of the rated speed. The speed increase threshold is based on considerations of the speed change characteristics of the matched motor's rated speed and the hilly terrain extrication conditions, ensuring accurate identification of sudden speed increases caused by mud thinning while filtering out small speed increases during normal speed regulation. The higher the motor's rated speed, the higher the threshold can be adjusted to avoid misjudgments caused by normal speed regulation; the slower the mud adhesion decreases and the smoother the speed increase, the lower the threshold can be adjusted to avoid missing actual rheological unloading conditions. If the threshold is exceeded, it is determined that there is a speed increase trend at the current moment. Through the above processing, the domain controller obtains the current drop trend identification results and the speed increase trend identification results, providing a data basis for subsequent determination of rheological unloading conditions.

[0028] Step S3: When the synchronous occurrence of the speed increase trend and the current drop trend is detected, the mud thinning rheological process of the mud layer of the agricultural machinery walking wheel is determined. The synchronous feature of the speed increase accompanied by the current drop is used as the rheological unloading identification signal. Based on the rheological unloading identification signal, when the mud thinning rheological process meets the preset triggering conditions, the rheological unloading event is determined to be triggered.

[0029] The starting times of the current drop trend and the speed increase trend are obtained. The absolute value of the time deviation between the two starting times is calculated and compared with a preset synchronization window threshold. If the absolute value of the time deviation is less than the synchronization window threshold, it is determined that the speed increase trend and the current drop trend meet the synchronization condition in the time dimension, and it is determined that the mud layer where the agricultural machinery's walking wheels are located is undergoing a mud thinning rheological process. For the mud thinning rheological process, the state combination of the synchronous occurrence of the speed increase trend and the current drop trend is marked as a rheological unloading identification signal and the generation time is recorded. From the generation time, the maintenance state of the current drop trend and the speed increase trend is continuously monitored, and the duration of the rheological unloading identification signal is accumulated. The duration is compared with a preset minimum duration threshold. If the duration exceeds the minimum duration threshold and the mud thinning rheological process is still ongoing, the rheological unloading event is determined to be triggered. If the current drop trend or the rotation speed increase trend has disappeared when the duration has not reached the minimum duration threshold, the rheological unloading identification signal is cancelled and the rheological unloading event is not triggered.

[0030] In hilly and mountainous areas after rain, mud thinning and rheology is a gradual physical change process. When the traveling wheels repeatedly roll over the same area of ​​mud or the ambient temperature rises, the viscosity of the mud decreases and its fluidity increases, leading to a decrease in the adhesion between the traveling wheels and the mud. The domain controller identifies this unique working condition by determining whether the increasing trend of rotational speed and the sharp drop in current occur synchronously in the time dimension.

[0031] Specifically, the synchronization window threshold refers to the maximum range of time deviations allowed between the start times of two trends. In one implementation, the domain controller extracts the start times of the current descent trend and the speed increase trend, respectively, and calculates the absolute value of the time deviation between them.

[0032] For example, when the agricultural machinery's traveling wheels sink into a thinned mud layer, the resistance of the mud to the wheels suddenly decreases, leading to a reduction in the motor load, manifested as a rapid drop in current. Simultaneously, under the same driving voltage, the motor speed increases due to the reduced load. These two phenomena are causally related in their physical mechanisms, exhibiting near-synchronous characteristics on the time axis. If the absolute value of the time deviation is less than a preset synchronization window threshold ranging from 80ms to 150ms, the two trends are deemed to meet the conditions for synchronization, thus confirming that the mud layer where the agricultural machinery's traveling wheels are located is undergoing a mud thinning rheological process. The value of the synchronization window threshold is determined based on the matching of the physical response time delays of the motor current and speed, ensuring accurate identification of the current-speed synchronization changes caused by mud thinning, while avoiding misjudging unrelated current and speed fluctuations as synchronization events.

[0033] In one embodiment, the domain controller marks the combination of a speed increase trend and a current drop trend that meet the synchronization conditions as a rheological unloading identification signal, and records the generation time of the identification signal.

[0034] It should be noted that after the rheological unloading identification signal is generated, the domain controller continuously monitors the maintenance status of the current drop trend and the speed increase trend, accumulating the duration of the identification signal from the moment of generation. The preset minimum duration threshold ranges from 200ms to 500ms, filtering out instantaneous current-speed fluctuations caused by the traveling wheels running over hard foreign objects, and avoiding false triggering of rheological unloading events. This threshold is used to distinguish between instantaneous disturbances and the actual mud thinning rheological process.

[0035] For example, when a farm machine's traveling wheel briefly rolls over a hard foreign object, a momentary fluctuation of sudden current drop accompanied by a speed increase will occur. However, this fluctuation is extremely short-lived, usually not exceeding the minimum duration threshold. By setting a minimum duration threshold, false alarms caused by such momentary disturbances can be filtered out. If the duration of the rheological unloading identification signal exceeds the minimum duration threshold and the mud thinning rheological process continues, the domain controller determines that a rheological unloading event has been triggered. If the current drop or speed increase trend disappears before the duration reaches the threshold, the domain controller cancels the rheological unloading identification signal and does not trigger the rheological unloading event.

[0036] Step S4: Obtain the current heat integral count value and the measured temperature rise of the motor in the multi-level pulse timing sequence. When the rheological unloading event is triggered and the measured temperature rise of the motor does not reach the rated temperature rise limit, identify and deduct the erroneous accumulation part caused by this rheological unloading event in the current heat integral count value to obtain the reset heat integral value.

[0037] Read the current thermal integral count value representing the cumulative thermal load state during the motor operation in the multi-level pulse timing from the thermal integral protection module of the domain controller; obtain the actual temperature rise of the motor from the temperature sensor supporting the walking drive motor, where the actual temperature rise of the motor is the difference between the current temperature of the motor and the initial reference temperature; read the rated temperature rise limit value of the motor from the preset parameters of the thermal integral protection module. According to the trigger state of the rheological unloading event, determine whether the rheological unloading event has been triggered. If the rheological unloading event has been triggered, compare the actual temperature rise of the motor with the rated temperature rise limit value numerically. If the actual temperature rise of the motor is less than the rated temperature rise limit value, it is determined that there is an error accumulation amount generated by the rheological unloading event in the current thermal integral count value, and enter the error accumulation identification process. Obtain the trigger moment of the rheological unloading event, trace back the historical cumulative records of the thermal integral protection module, locate the cumulative interval from the trigger moment to the current moment. If the current mud thinning rheological unloading event is still in a continuous state, locate to the latest sampling moment when this process is executed, extract the thermal integral increment within the cumulative interval, and mark the thermal integral increment as the error accumulation amount generated by the current rheological unloading event. Perform an operation to deduct the error accumulation amount specifically for the current thermal integral count value, deduct the error accumulation amount from the current thermal integral count value, and obtain the reset thermal integral value, where the reset thermal integral value reflects the true thermal load state of the motor and does not include the error count caused by the rheological unloading event.

[0038] The thermal integral protection module is a key protection unit in the control circuit of the walking drive motor. Its core function is to actively limit the output power before the motor temperature approaches the dangerous threshold by accumulating the thermal load information during the motor operation. In one implementation, the domain controller reads the current thermal integral count value from the register of the thermal integral protection module. This count value is a value obtained by accumulating cycle by cycle according to the current amplitude and duration since the motor started, and reflects the cumulative heat generation of the motor winding.

[0039] Specifically, the acquisition of the actual temperature rise of the motor depends on the temperature sensor installed on the motor winding or the housing. The domain controller records the initial reference temperature when the motor starts, continuously collects the current temperature value during the operation, and subtracts the initial reference temperature from the current temperature to obtain the actual temperature rise of the motor. The rated temperature rise limit value is the upper limit of the allowable temperature rise specified in the motor design parameters. When exceeding this limit value, there is a risk of deterioration of the insulation material of the motor winding.

[0040] In one embodiment, upon receiving a trigger signal for a rheostat unloading event, the domain controller immediately executes a temperature rise verification process. The domain controller compares the measured temperature rise of the motor with the rated temperature rise limit. If the measured temperature rise of the motor is less than the rated temperature rise limit, it indicates that the motor's current actual thermal state is within a safe range. In this case, the high value in the heat integral count is not due to actual motor heating, but rather to erroneous accumulation caused by rapid current changes under rheostat unloading conditions.

[0041] It should be noted that the mechanism of erroneous accumulation is related to the accumulation rules of the heat integration protection module. The heat integration protection module typically samples the motor current at a fixed period and adds the square of the sampled current value multiplied by the sampling period to the heat integration count. Before the rheological unloading condition occurs, the motor is operating under high load, with a large current value, and the heat integration accumulates at the normal rate. When mud thinning causes a sudden load drop, although the current value decreases rapidly, the heat integration protection module continues to accumulate at the original current level in the early stages of the rheological unloading event. Furthermore, some heat integration protection modules trigger an abnormal accumulation mechanism when detecting a sudden current change, resulting in erroneous accumulation of the heat integration count that does not match the actual heat generation. Identifying and clearing this erroneous accumulation is crucial to restoring the normal operating state of the heat integration protection module.

[0042] For example, the domain controller acquires the trigger time of the rheological offloading event, which corresponds to the timestamp of the first confirmation of the rheological offloading identification signal. The thermal integration protection module internally maintains a historical cumulative record, recording the thermal integration increment for each sampling period and its corresponding time.

[0043] In one possible implementation, the domain controller locates the starting position in the historical accumulation record based on the trigger time and uses the current time as the ending position, thereby determining the accumulation interval. The domain controller traverses all record entries within the accumulation interval, adds up the heat integral increments in each entry one by one, obtains the sum of heat integral increments within the accumulation interval, and marks this sum as the erroneous accumulation amount generated by this rheological unloading event.

[0044] Understandably, the deduction operation does not directly reset the heat integral count to zero, but rather specifically deducts the erroneous accumulation. The domain controller subtracts the erroneous accumulation from the current heat integral count, and the difference is the reset heat integral value. This reset heat integral value eliminates the false heat load accumulation caused by rheological unloading events, truly reflecting the actual temperature rise of the motor windings.

[0045] Preferably, after completing the deduction operation, the domain controller writes the reset thermal integral value back to the register of the thermal integral protection module, enabling the thermal integral protection module to continue operating with the reset thermal integral value as the new accumulation benchmark. Through the above processing, the state of the thermal integral protection module is re-matched with the actual thermal state of the motor, avoiding false triggering of power limits due to erroneous accumulation.

[0046] Step S5: Update the status of the thermal integral protection module by resetting the thermal integral value, adjust the motor drive control parameters, and determine the complete release condition of the next stage drive pulse.

[0047] The internal status register of the thermal integration protection module is updated by resetting the thermal integration value. Based on the difference between the reset thermal integration value and the preset power limit start threshold, the torque output limit and pulse width modulation duty cycle upper limit in the motor drive control parameters are adjusted according to a linear positive correlation rule: the larger the difference, the larger the adjustment. The specific formula for the linear positive correlation rule is: parameter adjustment amplitude = difference × preset proportional coefficient, where the preset proportional coefficient is preset according to the motor's rated parameters; the parameter adjustment boundary conditions are that the torque output limit does not exceed the rated torque of the travel drive motor, and the pulse width modulation duty cycle upper limit does not exceed 100%. Based on the adjusted torque output limit and pulse width modulation duty cycle upper limit, the complete release conditions for the next-level drive pulse are determined. The complete release conditions include the pulse trigger time, pulse duration, and pulse amplitude range.

[0048] After obtaining the reset heat integral value, the domain controller writes the value into the internal status register of the heat integral protection module, replacing the original heat integral count value. In one embodiment, the domain controller reads a preset power limit trigger threshold and calculates the difference between the reset heat integral value and the threshold. This difference reflects the margin between the current heat load state and the power limit trigger point.

[0049] Specifically, the domain controller adjusts the motor drive control parameters based on the aforementioned difference. When the difference is large, it indicates sufficient thermal load margin, and the domain controller increases the torque output limit and the upper limit of the pulse width modulation duty cycle; when the difference is small, the domain controller maintains or moderately decreases the aforementioned parameters. The torque output limit determines the upper boundary of the instantaneous output torque of the motor, and the upper limit of the pulse width modulation duty cycle determines the maximum on-time ratio of the drive signal.

[0050] For example, the domain controller determines the complete release condition for the next-level drive pulse based on the adjusted torque output limit and the upper limit of the pulse width modulation duty cycle. In the complete release condition, the pulse trigger time refers to the point at which the drive pulse begins to output, the pulse duration refers to the effective output time of a single pulse, and the pulse amplitude range refers to the allowable fluctuation range of the pulse voltage or current.

[0051] Step S6: Based on the complete release condition, transmit the corresponding pulse control signal to the actuator of the agricultural machinery walking drive motor, and collect the actual torque response data fed back by the motor actuator.

[0052] According to the pulse trigger moment, pulse duration, and pulse amplitude range in the complete release condition, a corresponding pulse control signal is transmitted to the actuator of the agricultural machinery driving motor through the pulse output interface of the domain controller. The actual torque response data generated by the actuator after receiving the pulse control signal is collected through the torque sensor supporting the motor actuator, and the actual torque response data includes torque amplitude and torque change time sequence.

[0053] After the domain controller completes the determination of the complete release condition, according to the regulations of the pulse trigger moment, pulse duration, and pulse amplitude range, a pulse control signal is transmitted to the actuator of the walking driving motor through the pulse output interface. In one implementation, the pulse output interface outputs a driving waveform using pulse width modulation, and both the duty cycle and frequency of the waveform are constrained by the complete release condition.

[0054] Specifically, the motor actuator drives the walking wheel to output torque after receiving the pulse control signal. The torque sensor is installed between the motor output shaft and the walking wheel transmission mechanism to detect the torque value generated by the actuator in real time. The domain controller reads the output signal of the torque sensor through the data acquisition interface to obtain the actual torque response data, which includes two parts of information: torque amplitude and torque change time sequence.

[0055] Exemplarily, the torque amplitude reflects the torque magnitude output by the actuator at a specific moment, and the torque change time sequence reflects the change trajectory of the torque over time starting from the pulse trigger moment. The above actual torque response data provides a basis for subsequent judgment on whether the continuity of the driving torque is maintained.

[0056] Step S7, based on the actual torque response data, judge whether the continuity of the driving torque is maintained. If not, return to adjust the control parameters and release conditions. If it is maintained, generate a qualified judgment result.

[0057] Based on the torque amplitude and torque change time sequence in the actual torque response data, calculate the torque fluctuation amplitude between adjacent sampling moments, and compare the torque fluctuation amplitude with a preset continuity fluctuation threshold. If the torque fluctuation amplitude exceeds the continuity fluctuation threshold, it is determined that the continuity of the driving torque is not maintained. For the situation where the continuity of the driving torque is not maintained, according to the deviation amount between the torque fluctuation amplitude and the continuity fluctuation threshold, following the rule that the larger the deviation amount, the greater the adjustment amplitude, return to adjust the torque output limit value and the upper limit of the pulse width modulation duty cycle in the motor drive control parameters, and re-determine the complete release condition of the next-level driving pulse according to the adjusted control parameters. If the torque fluctuation amplitude does not exceed the continuity fluctuation threshold and the torque change time sequence shows a stable output state, it is determined that the continuity of the driving torque is maintained, and a qualified judgment result is generated.

[0058] Drive torque continuity refers to the characteristic that the output torque of a motor actuator remains stable over time without drastic interruptions or jumps under the action of a pulse control signal. During extrication operations in hilly and mountainous terrain, if the torque output is frequently interrupted or fluctuates significantly, the traveling wheels will not receive a continuous and stable driving force, leading to extrication failure.

[0059] Specifically, the domain controller, based on the torque amplitude and torque change timing in the actual torque response data, takes the absolute value of the torque difference between adjacent sampling times to obtain the torque fluctuation amplitude. In one implementation, the torque fluctuation amplitude reflects the degree of instantaneous jump in torque output; a larger fluctuation amplitude indicates poorer torque output stability. The domain controller compares the torque fluctuation amplitude with a preset continuous fluctuation threshold, which is a pre-set upper limit of allowable fluctuation based on the motor's rated torque and the characteristics of hilly and mountainous post-rain operation conditions. If the torque fluctuation amplitude exceeds the continuous fluctuation threshold, it is determined that the drive torque continuity is not maintained. To ensure the continuous and stable output of drive torque under different operating conditions in hilly and mountainous areas, and to avoid excessive torque fluctuations causing the wheels to lose continuous driving force, while allowing small torque fluctuations under normal operating conditions, the preset continuous fluctuation threshold is set at ±3% to ±5% of the motor's rated torque under traction conditions, and ±8% to ±10% of the motor's rated torque under stable operating conditions.

[0060] For example, when the drive torque continuity is not maintained, the domain controller enters the parameter adjustment process. The adjustment rule follows the principle that the larger the deviation, the larger the adjustment magnitude; that is, the more the torque fluctuation exceeds the continuity fluctuation threshold, the greater the adjustment of the torque output limit and the upper limit of the pulse width modulation duty cycle. After the adjustment is completed, the domain controller redetermines the complete release condition according to the new control parameters and transmits pulse control signals to the motor actuator again, forming a closed-loop regulation.

[0061] It should be noted that if the torque fluctuation amplitude does not exceed the continuous fluctuation threshold, the domain controller further checks whether the torque change timing presents a stable output state. A stable output state means that the torque amplitude fluctuates slightly around the target torque value over multiple consecutive sampling periods, without a monotonically increasing or decreasing trend.

[0062] In one embodiment, when both the torque fluctuation amplitude and the torque change timing meet the requirements, the domain controller determines that the drive torque continuity has been maintained and then outputs a pass / fail result. This pass / fail result indicates that the current pulse timing control logic is operating normally and that a match has been achieved between the motor drive control parameters and the actuator response.

[0063] Step S8: Based on the driving torque continuity qualification judgment result, perform state fusion on the actual torque response data and the speed monitoring data, and determine whether the dynamic response asynchronous mismatch contradiction is resolved based on the state fusion result. If the contradiction is not resolved, readjust the motor drive control parameters and pulse release conditions. If the contradiction is resolved, maintain the current pulse timing control logic.

[0064] Based on the drive torque continuity qualification result, the torque amplitude sequence in the actual torque response data is obtained, and the smoothed speed sequence in the speed monitoring data is also obtained. The torque amplitude sequence and the smoothed speed sequence are aligned according to timestamps to obtain torque-speed paired data. For the torque-speed paired data, the torque amplitude and speed values ​​at the same moment are fused into a single dynamic response state value according to preset torque weights and speed weights, resulting in a state fusion result sequence. Based on the state fusion result sequence, the cycle change rate of the dynamic response state value at adjacent moments is calculated. The calculation formula is change rate = (current moment state value - previous moment state value) / previous moment state value × 100%, with a calculation time unit of 100ms. The change rate is compared with a preset synchronization matching threshold. If the change rate exceeds the synchronization matching threshold, it is determined that the dynamic response asynchronous mismatch contradiction has not been resolved, and the process returns to step S5 to readjust the motor drive control parameters and the next-level drive pulse release conditions. After the adjustment is completed, the complete process from steps S6 to S8 is executed again. If the rate of change does not exceed the synchronization matching threshold and the state fusion result sequence shows a stable convergence trend, then it is determined that the dynamic response asynchronous mismatch contradiction has been resolved, and the current pulse timing control logic is maintained.

[0065] The asynchronous mismatch in dynamic response refers to the inability of the output response of the drive torque and the feedback change of the motor speed to maintain synchronization in the time dimension during multi-level pulse timing control. In hilly and mountainous terrain with rheological unloading conditions, the abnormal adjustment of drive parameters may occur due to the erroneous triggering of the thermal integral protection module. Even after thermal integral reset and torque continuity verification, residual timing deviations may still exist between the torque output and speed feedback. If these deviations are not resolved, they will continuously interfere with the normal operation of the pulse timing control logic. In one implementation, after obtaining the drive torque continuity qualification result, the domain controller extracts a torque amplitude sequence from the actual torque response data. This sequence records the torque values ​​output by the motor actuator within a continuous sampling period. Simultaneously, the domain controller extracts a smoothed speed sequence from the speed monitoring data, which is a speed time sequence preprocessed with a low-pass filter.

[0066] Specifically, the torque amplitude sequence and the smoothed speed sequence each carry timestamp information. The domain controller pairs data points at the same moment in the two sequences based on the timestamps, forming torque-speed paired data. Timestamp alignment is a prerequisite for state fusion; only data points that strictly correspond in the time dimension have physical meaning for fusion.

[0067] It should be noted that state fusion is a process that combines torque amplitude and speed values ​​into a single value to comprehensively characterize the motor drive state.

[0068] In one embodiment, the domain controller pre-sets torque weights and speed weights. The torque weight reflects the importance of the torque amplitude in the overall state, and the speed weight reflects the importance of the speed value in the overall state. The sum of the two weights is 1. For the hilly terrain obstacle avoidance scenario in this embodiment, priority is given to ensuring the continuity of drive torque. The typical torque weight value is 0.6~0.7, and the corresponding speed weight value is 0.3~0.4. For each pair of data points in the torque-speed pairing data, the domain controller multiplies the torque amplitude by the torque weight to obtain the torque component, multiplies the speed value by the speed weight to obtain the speed component, and then adds the torque component and the speed component to obtain the dynamic response state value at that moment. All paired data points are processed in the above manner to form a state fusion result sequence.

[0069] For example, in rice planting operations in hilly terrain, if the torque amplitude and rotational speed change synchronously—that is, when the torque increases, the rotational speed decreases accordingly, and when the torque decreases, the rotational speed increases accordingly—the dynamic response state values ​​in the state fusion result sequence will remain relatively stable. If the trends of these two changes are inconsistent, the state fusion result sequence will exhibit significant fluctuations. Based on the state fusion result sequence, the domain controller calculates the rate of change between dynamic response state values ​​at adjacent times. The rate of change reflects the severity of fluctuations in the state fusion result over time; a larger rate of change indicates poorer coordination between torque and rotational speed. The domain controller compares the rate of change with a preset synchronization matching threshold, which is a pre-calibrated allowable fluctuation boundary based on the normal torque-speed coordination relationship under post-rain conditions in hilly terrain.

[0070] In one possible implementation, if the rate of change exceeds the synchronization matching threshold, the domain controller determines that the dynamic response asynchronous mismatch contradiction has not been resolved. At this time, there is still an unacceptable timing deviation between the torque output and the speed feedback. The domain controller then readjusts the motor drive control parameters and pulse release conditions, adjusting them to reduce the response delay of the torque output or to adjust the pulse amplitude range, so that the torque change and the speed change are synchronized again in time.

[0071] Understandably, if the rate of change does not exceed the synchronization matching threshold, the domain controller further checks whether the state fusion result sequence shows a stable convergence trend. A stable convergence trend means that the dynamic response state value in the sequence gradually approaches a certain steady-state value over time, and the fluctuation range continues to shrink. When the rate of change meets the threshold requirement and the sequence shows a stable convergence trend, the domain controller determines that the dynamic response asynchronous mismatch contradiction has been resolved, and the coordination relationship between torque output and speed feedback has returned to normal. At this time, the motor drive control parameters and pulse release conditions in the current pulse timing control logic remain unchanged, and the agricultural machinery chassis domain controller enters a steady-state operation mode, continuously supporting the walking wheels to complete the extrication operation.

[0072] It should be noted that for the parameter adjustment loops corresponding to steps S7 and S8, the domain controller sets independent preset maximum number of loops for each loop. When the number of executions of a single loop in the torque continuity adjustment loop of step S7 and the dynamic response matching adjustment loop of step S8 reaches the corresponding preset maximum number of loops, if the qualification conditions of the corresponding steps are still not met, the domain controller immediately triggers the fault protection logic, terminates the current multi-level pulse timing adaptive suppression process, and sends a fault warning signal to the agricultural machinery vehicle controller through the vehicle communication bus, indicating that the drive control closed-loop adjustment is abnormal. The preset maximum number of loops for the two loops is 3 to 5 times, which ensures that the closed-loop adjustment has enough times to achieve torque stability and dynamic matching, while avoiding infinite loops that could lead to system loss of control, and also meets the real-time requirements of hilly and mountainous terrain after rain-induced traction.

[0073] The above description is merely a preferred embodiment of one or more embodiments of this specification and is not intended to limit the scope of one or more embodiments of this specification. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of one or more embodiments of this specification should be included within the protection scope of one or more embodiments of this specification.

Claims

1. A multi-level pulse timing adaptive suppression method for an agricultural machinery chassis domain controller, characterized in that, The method includes: S1. Obtain the real-time operation data collected by the sensors supporting the agricultural machinery walking drive motor through the processor of the agricultural machinery chassis domain controller, and perform low-pass filtering preprocessing to obtain smooth monitoring data; S2. Based on the smooth monitoring data, identify the trends of sudden current drop and speed climb, and determine whether there is a state combination where the two occur synchronously; S3. If the state combination that occurs synchronously meets the preset trigger condition, determine to trigger the mud thinning rheological unloading event; S4. According to the event trigger state, obtain the parameters related to the motor thermal load and compare them, identify and correct the mis-accumulation amount of the thermal integral count value, and obtain the reset thermal integral state value; S5. Update the state of the thermal integral protection module through the reset thermal integral state value, adjust the motor drive control parameters corresponding to the multi-level pulse timing, and determine the release condition of the next-level drive pulse; S6. Transmit the pulse control signal to the motor actuator according to the release condition of the next-level drive pulse, and collect the actual torque response data feedback by the actuator; S7. Based on the actual torque response data, judge whether the continuity of the driving torque is maintained. If not, return to S5 to adjust the parameters and release conditions. If maintained, generate a qualified judgment result; S8. According to the qualified judgment result, perform state fusion on the torque response data and the smooth monitoring data, and judge whether the dynamic response of the driving torque and the speed feedback matches. If not, return to S5 to adjust and re-execute S6 to S8. If matched, maintain the current control logic.

2. The method as described in claim 1, characterized in that, The obtaining of the real-time operation data collected by the sensors supporting the agricultural machinery walking drive motor through the processor of the agricultural machinery chassis domain controller and performing low-pass filtering preprocessing to obtain smooth monitoring data includes: Connect the current and speed sensors of the motor through the domain controller data acquisition interface, read the instantaneous current of the motor stator winding and the instantaneous speed of the output shaft at a preset period, and store them in the cache queue according to the time stamp to form the original sequence; Use a first-order lag filter to perform low-pass filtering on the original sequence. Use the preset filtering coefficient α as the weight of the current sampling point and 1-α as the weight of the previous moment's filtered output value for weighted averaging to obtain the smooth current and speed monitoring data, and merge them into the smooth monitoring data.

3. The method as described in claim 1, characterized in that, The identifying of the trends of sudden current drop and speed climb based on the smooth monitoring data and determining whether there is a state combination where the two occur synchronously includes: Calculate the current change slope of adjacent sampling moments based on the smooth current monitoring data in the smooth monitoring data. If the slope is negative and the absolute value exceeds the preset current sudden drop threshold within a continuous preset number of sampling periods, identify the trend of sudden current drop; Calculate the speed change slope based on the smooth speed monitoring data in the smooth monitoring data. If the slope is positive and exceeds the preset speed climb threshold within a continuous preset number of sampling periods, identify the trend of speed climb; If the absolute value of the time deviation between the starting moments of the two trends is less than the preset synchronization window threshold, determine that the two occur synchronously.

4. The method as described in claim 1, characterized in that, The determining to trigger the mud thinning rheological unloading event if the state combination that occurs synchronously meets the preset trigger condition includes: Mark the state combination where the sudden current drop trend and the speed climb trend occur synchronously as the rheological unloading identification signal and record the generation time; The uninterrupted duration of the identified signal is continuously monitored and accumulated. If the duration exceeds the preset minimum duration threshold and the state combination is still maintained, the mud thinning rheological unloading event is determined to be triggered. If the state combination disappears before the time limit is reached, the identification signal is cancelled and no event is triggered.

5. The method as described in claim 1, characterized in that, The process of acquiring and comparing relevant parameters of the motor thermal load based on the event triggering state, identifying and correcting the erroneous accumulation of the heat integral count value, and obtaining the reset heat integral state value includes: Read the current heat integral count value from the heat integral protection module, obtain the measured temperature rise of the stator winding from the motor temperature sensor, and read the preset rated temperature rise limit; If the mud thinning rheological unloading event has been triggered and the measured temperature rise is less than the rated temperature rise limit, it is determined that there is an accumulation of heat integral errors. By tracing back the historical cumulative records, the cumulative interval from the event trigger time to the end time is located. If the mud thinning rheological unloading event is still ongoing, the latest sampling time when this process is executed is located, and the sum of the heat integral increments within the interval is extracted as the erroneous cumulative amount. The reset heat integral state value is obtained by subtracting the erroneous accumulation from the current count value.

6. The method as described in claim 1, characterized in that, The process of updating the thermal integration protection module status by resetting the thermal integration status value, adjusting the motor drive control parameters corresponding to the multi-level pulse timing, and determining the release condition of the next-level drive pulse includes: Write the reset thermal integration status value into the status register of the thermal integration protection module to complete the module status update; Calculate the difference between the reset value and the preset power limit start threshold, and adjust the torque output limit and pulse width modulation duty cycle upper limit in the motor drive control parameters according to the linear positive correlation rule that the larger the difference, the larger the adjustment. Based on the adjusted parameters, determine the next-level drive pulse release conditions, including pulse trigger time, duration, and amplitude range.

7. The method as described in claim 1, characterized in that, The step of transmitting a pulse control signal to the motor actuator under the first-level drive pulse release condition and collecting actual torque response data fed back by the actuator includes: When the first-level drive pulse release condition is met, a pulse width modulation control signal is transmitted to the motor actuator through the domain controller's pulse output interface. The actual torque response data of the actuator is collected by the torque sensor that is matched with the motor output shaft. The actual torque response data includes the torque amplitude and the torque change sequence, and is stored in the domain controller cache according to the timestamp.

8. The method as described in claim 1, characterized in that, The process of determining whether the drive torque continuity is maintained based on actual torque response data is as follows: if it is not maintained, return to S5 to adjust parameters and release conditions; if it is maintained, generate a qualified judgment result, including: Based on actual torque response data, the absolute value of the torque amplitude difference between adjacent sampling times is calculated to obtain the torque fluctuation amplitude. If the fluctuation amplitude exceeds the preset continuous fluctuation threshold, it is determined that the drive torque continuity has not been maintained; If the fluctuation range does not exceed the threshold, and the torque amplitude fluctuates stably around the target torque value preset in this process within a continuous preset number of sampling periods, the continuity is determined to be maintained, and a qualified judgment result is generated.

9. The method as described in claim 1, characterized in that, The process involves fusing the torque response data and smoothing monitoring data based on the pass / fail determination result to determine whether the dynamic response of the drive torque and speed feedback matches. If they do not match, the process returns to S5 for adjustment and re-executes S6 to S8. If they match, the current control logic is maintained, including: Based on the pass / fail determination results, obtain the torque amplitude sequence and smooth speed sequence, and align them by timestamps to obtain paired data; The torque and speed values ​​at the same moment are weighted and summed according to the preset torque weight and speed weight to obtain the dynamic response state value and state fusion result sequence, and the sum of the two weights is 1; Calculate the rate of change of state values ​​at adjacent time points. If the rate of change exceeds the preset synchronization matching threshold, it is determined that the dynamic response is not matched. If the rate of change does not exceed the threshold and the sequence shows a stable convergence trend, the dynamic response is determined to be matched. S7 and S8 have independent preset maximum number of cycles for parameter adjustment. When the number of cycles in a single adjustment cycle reaches the corresponding preset maximum number of cycles and the qualification conditions of the corresponding process are still not met, the fault protection logic is triggered, the current process is terminated, and a fault warning signal is sent to the agricultural machinery vehicle controller.

10. The method as described in claim 3, characterized in that, The method of identifying the trends of sharp current drops and speed increases based on smooth monitoring data, and determining whether there is a state combination in which the two occur simultaneously, also includes: Based on smoothed current and speed monitoring data, the trends of current and speed changes are identified respectively, and the start time and magnitude of the two trends are obtained. If the time difference between the start times of the two trends is less than the preset synchronization window threshold, and the changes in current and speed both meet the corresponding preset amplitude thresholds, it is determined that the two trends occur synchronously.

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