CN107357208A - Agricultural work vehicle control device and its control system - Google Patents
Agricultural work vehicle control device and its control system Download PDFInfo
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- CN107357208A CN107357208A CN201710603870.1A CN201710603870A CN107357208A CN 107357208 A CN107357208 A CN 107357208A CN 201710603870 A CN201710603870 A CN 201710603870A CN 107357208 A CN107357208 A CN 107357208A
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- 230000015654 memory Effects 0.000 claims abstract description 59
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- 238000004364 calculation method Methods 0.000 claims description 6
- 238000010977 unit operation Methods 0.000 claims description 5
- 238000005070 sampling Methods 0.000 claims description 4
- 238000001816 cooling Methods 0.000 claims description 3
- 230000005055 memory storage Effects 0.000 claims description 3
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/04—Programme control other than numerical control, i.e. in sequence controllers or logic controllers
- G05B19/042—Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
- G05B19/0421—Multiprocessor system
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/22—Pc multi processor system
- G05B2219/2214—Multicontrollers, multimicrocomputers, multiprocessing
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25252—Microprocessor
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B2219/00—Program-control systems
- G05B2219/20—Pc systems
- G05B2219/25—Pc structure of the system
- G05B2219/25338—Microprocessor
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- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Management, Administration, Business Operations System, And Electronic Commerce (AREA)
- Control By Computers (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
Abstract
The agricultural work vehicle control device of the present invention is used to receive agricultural work vehicle system software program and requires that control agricultural work vehicle carries out automated job according to agricultural work vehicle work operations program.The agricultural work vehicle control device has microprocessor, bus, memory, positioner, electric logic control device, communicator, human-computer interaction device, input/output interface.The functional devices such as microprocessor, memory, positioner, electric logic control device, communicator, human-computer interaction device, input/output interface are attached by the bus.The bus is each functional device data information, address information, the control information of control device.Present invention offer agricultural work vehicle control device is simple in construction, is easily achieved.
Description
Technical field
The present invention relates to the control device of agricultural work vehicle technical field and system, more specifically, is related to agriculture work
Industry machine control device and its control system.
Background technology
Existing agricultural operation machinery is a kind of mechanical working rig, due to lack agricultural work vehicle control device and its
Control system, existing agricultural work vehicle can not carry out automated job.Agricultural work vehicle is set to be turned into automatically
Industry, agricultural work vehicle must possess the control device and its control system that can carry out automated job.In order to realize agriculture work
The control device of the automated job of industry machine and its purpose of control system, the present invention provide agricultural work vehicle control device and
Its control system.
The content of the invention
In order to achieve the above object, the present invention provides agricultural work vehicle control device.The agricultural that the present invention uses is made
Industry machine control device is used to receive agricultural work vehicle system software program and requires to control according to agricultural work vehicle work operations program
Agricultural work vehicle processed carries out automated job.The agricultural work vehicle control device has microprocessor, bus, memory, position
Put controller, electric logic control device, communicator, human-computer interaction device, input/output interface.The bus is by micro- place
Manage device, memory, positioner, electric logic control device, communicator, human-computer interaction device, input/output interface
It is attached Deng functional device.The bus is each functional device data information, address information, control of control device
Information.Present invention offer agricultural work vehicle control device is simple in construction, is easily achieved.
In order to achieve the above object, the invention also provides a kind of control system with agricultural work vehicle control device.
The agricultural work vehicle control system has agricultural work vehicle control device and agricultural work vehicle system software product.It is described
Agricultural work vehicle control device has microprocessor, bus, memory, positioner, electric logic control device, communication
Device, human-computer interaction device, input/output interface；The bus by microprocessor, memory, positioner, electrically patrol
Collect the functional devices such as control device, communicator, human-computer interaction device, input/output interface to be attached, the bus is
Each functional device data information, address information, control information.The agricultural work vehicle system software product has man-machine
Interactive module, programmable control function module, communication module, position control module, memory module, decoding processing module, number
According to processing module, management and diagnostic module, work operations program module, system bus module.A kind of tool that the present invention also proposes
The control system for having agricultural work vehicle control device is easily achieved.
Technical scheme
The agricultural work vehicle control device of the embodiment of the present invention is used to receive agricultural work vehicle system software program and basis
Agricultural work vehicle work operations program requires that control agricultural work vehicle carries out automated job.The agricultural work vehicle control dress
Put with microprocessor, bus, memory, positioner, electric logic control device, communicator, man-machine interaction dress
Put, input/output interface.The bus by microprocessor, memory, positioner, electric logic control device, communication
The functional devices such as device, human-computer interaction device, input/output interface are attached.The bus is each function of control device
Device data information, address information, control information.
The embodiment of the present invention also provides a kind of control system with agricultural work vehicle control device.The agricultural work vehicle
Control system has agricultural work vehicle control device and agricultural work vehicle system software product.The agricultural work vehicle control
Device has microprocessor, bus, memory, positioner, electric logic control device, communicator, man-machine interaction dress
Put, input/output interface；The bus by microprocessor, memory, positioner, electric logic control device, communication
The functional devices such as device, human-computer interaction device, input/output interface are attached, and the bus is that each functional device transmits number
It is believed that breath, address information, control information.The agricultural work vehicle system software product has human-computer interaction module, programmable control
Functional module processed, communication module, position control module, memory module, decoding processing module, data processing module, management with
Diagnostic module, work operations program module, system bus module.
In addition, control device according to embodiments of the present invention and its control system can also have following supplementary technology special
Sign：
Some embodiments, the microprocessor have：Management department, diagnostics division, data processing division.The management department has CPU pipes
Reason and external device management.The management department is used for the reasonable arrangement of the front and back program of agricultural work vehicle system with coordinating work
Make, being in communication with each other between interrupt service routine, the prison of various information on the control panel and guidance panel of agricultural work vehicle
Control.The diagnostics division finds agricultural work vehicle system software, the failure of hardware in time in agricultural work vehicle system operation, and
Fault type is pointed out, can check whether the function of agricultural work vehicle various parts is normal before operation, after failure generation, and
Point out the position broken down.The data processing division carries out power tool compensation calculation, coordinate system skew in system operation
Calculating, interpolation calculating, coordinate transform calculating, bed body error compensation calculate.
Some embodiments, the memory are used to store agricultural work vehicle system software program, agricultural work vehicle working procedure.Institute
State input interface reception agricultural work vehicle external information and be converted into the data flow that agricultural work vehicle control device can identify.It is described
Output interface output control information controls agricultural work vehicle and its each mechanical device to be operated.The communicator completes control
Device processed and agricultural work vehicle itself and its extraneous facility carry out data transmission and information communicates.The human-computer interaction device is used
In the various operational orders of agricultural work vehicle system, the input of data, output, display.The electric logic control device is completed
The emergent stopping of agricultural work vehicle and its each mechanical device, lubrication, cooling, operating type selection, hand feed, motor are opened/
Stop waiting signal；Also complete to select the processes such as power tool, working rig and its positioning of each mechanical device to patrol agricultural work vehicle
Collect control；The action process such as the rotary shaft rotating to working rig, orientation, speed change are also completed to be controlled；Also complete to operation
The information of switching function and agricultural work vehicle bed body in machine working procedure does logical process, realizes each function and mode of operation
Between it is chain, the start and stop of the electric equipment of working rig, power tool exchange, the counting of the duration of runs.The positioner
The theoretical set-point of instruction of microprocessor processes is calculated with the actual value that position detecting device measures, compared with, adjust etc.
Processing, output result command information control driver are driven the motor of agricultural work vehicle.
Some embodiments, memory are used to store the parameter of agricultural work vehicle system software program with operational order and to controls
Each functional device of device processed provides corresponding parameter and data, order；And the parameter of reception functional device return each with management,
Data, order.
Some embodiments, the positioner is within each sampling period of agricultural work vehicle drive system, by theory
Given position value input of its difference as driving regulation, drives compared with actual feedback positional value through driver control
Motor；It is used to complete the Gain tuning of position loop, the error compensation of each coordinate and anti-backlash compensation in controlling in position.Carry
The positioning precision of high working rig.
Some embodiments, the communicator realize the self communication of agricultural work vehicle system；Realize that agricultural work vehicle exists
Communicated in unit, multiple unit operation with other extraneous agricultural work vehicle systems, airborne equipment system, ground installation system etc..
Some embodiments, control of the electric logic control device to agricultural work vehicle guidance panel；It is described electrically to patrol
Collect control of the control device to the input signal of agricultural operation pusher side；The electric logic control device is to itself output signal
Control；Control of the electric logic control device to the motor of agricultural work vehicle；The electric logic control device pair
The control of alert process；Control of the electric logic control device to software driven system.
Some embodiments, the human-computer interaction device are used for operating personnel and control working rig by the human-computer interaction device
The operation of system；Working rig system mode is additionally operable to show, work and run display；For the adjustment of working rig bed body, work operations
The writing and manage of program module, the setting and management of running parameter.
Some embodiments, the agricultural work vehicle control system have agricultural work vehicle control device and agricultural work vehicle
System software product.The agricultural work vehicle control device have microprocessor, bus, memory, positioner, electrically
Logic control device, communicator, human-computer interaction device, input/output interface；The bus by microprocessor, memory,
The functional devices such as positioner, electric logic control device, communicator, human-computer interaction device, input/output interface enter
Row connection, the bus are each functional device data information, address information, control information.The agricultural work vehicle system
Software product has human-computer interaction module, programmable control function module, communication module, position control module, memory mould
Block, decoding processing module, data processing module, management and diagnostic module, work operations program module, system bus module.
The effect of invention is：
Agricultural work vehicle control device involved in the present invention and its control system can easily realize carry out automated job
Control device and its control system effect.
Brief description of the drawings
Next instantiation explanation is carried out to the present invention, but these examples do not limit the present invention with explanation, only with reference to following attached
The present invention will be described for the embodiment of figure explanation.
In drawings below
Fig. 1 is the workflow of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention, structure group
Cheng Tu；
Fig. 2 is the workflow of the agricultural work vehicle control system of one of which scheme according to embodiments of the present invention, structure group
Cheng Tu；
Fig. 3 is the workflow diagram of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention；
Fig. 4 is the work decoding flow chart of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention；
Fig. 5 is the positioner workflow of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention
Cheng Tu；
Fig. 6 is the positioner workflow of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention
Cheng Tu；
Fig. 7 be the communicator of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention composition,
Workflow diagram；
Fig. 8 is the electric logic control device of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention
Workflow diagram；
Fig. 9 is the electric logic control device of the agricultural work vehicle control device of one of which scheme according to embodiments of the present invention
Structure, composition figure.
In the figures above
1. input unit, 2. memories, 3. communicators, 4. human-computer interaction devices, 5. system bus, 6. microprocessors, 7.
Put controller, 8. output devices, 9. electric logic control devices, 10. control devices, 11. work operations program modules, 12. agricultures
Industry working rig system product, 13. drivers, 14. agricultural work vehicle driving equipments, 15. control systems, 16. decodings processing
Module, 17. work operations program modules, 18. data processing modules, 19. programmable control function modules, 20. memory moulds
Block, 21. system bus modules, 22. position control modules, 23. communication modules, 24. human-computer interaction modules, 25. management and diagnosis
Module, 26. position controls, the control of 27. positions, 28. speed regulators, 29. speed controls, 30. motors, 31. speed
Ring, 32. position rings, 33. detection collections and feedback unit, 34. velocity measurings, the detection of 35. positions, 36. position comparators, 37.
Speed comparator, 38. analog line drivers, the current feedback of 39. motor 40., 41. positions feedback, 42. electric current loops, 43. speed are anti-
Feedback, 44. send equipment, 45. receiving devices, 46. communication medias, 47. agricultural equipments itself, 48. ground installations, 49. agriculturals and made
Industry machine airborne equipment, 50. other working rigs, 51. programmable devices, 52. processor CPU, 53. user memories, 54. system programs
Memory, 55. input/output interface modules, 56. input interface modules, 57. output interface modules.
Specific implementation
For the purposes of the present invention, technical scheme is more clearly understood, and further, carries out specific embodiment to the present invention and says
It is bright, but the present invention is not intended to be limited in any, the present invention is further illustrated only with reference to embodiment as described below.
Below please also refer to Fig. 1 to Fig. 9,
Referring to Fig. 1, agricultural work vehicle control device (10) has microprocessor (6), system bus (5), memory (2), input
Device (1), output device (8), positioner (7), communicator (3), human-computer interaction device (4), electric logic control dress
Put (9).The microprocessor (6) has unshowned controller, arithmetic unit.Microprocessor (6) management and control agricultural
The operation of working rig system.The system bus (5) is by microprocessor (6), memory (2), human-computer interaction device (4), defeated
It is relatively only to enter device (1), output device (8), positioner (7), communicator (3), electric logic control device (7) etc.
Vertical device, functional part connect, and as the public passage of transmission information.Input unit (1) receives agricultural work vehicle
System product (12), work operations program module (11).Positioner (7) output control information controls driver
(13) driving equipment (13) of agricultural work vehicle is driven.Agricultural work vehicle and its detector of driving equipment (13) adopt detection
Collection feedback of the information gives positioner (7).Electric logic control device (9) output logical control information control driver (13)
Drive the driving equipment (13) of agricultural work vehicle.Agricultural work vehicle and its detector of driving equipment (13) will detect collection letter
Breath feeds back to electric logic control device (9).
Referring to Fig. 2, the agricultural work vehicle control system (15) has agricultural work vehicle control device (10) and agricultural
Working rig system product (12).Agricultural work vehicle control device (10) has microprocessor (6), system bus (5), deposited
Reservoir (2), input unit (1), output device (8), positioner (7), communicator (3), human-computer interaction device (4), electricity
Gas logic control device (9).The microprocessor management and the operation of control agricultural work vehicle system.The system bus (5)
It is by microprocessor (6), memory (2), human-computer interaction device (4), input unit (1), output device (8), positioner
(7), the relatively independent device such as communicator (3), electric logic control device (7), functional part are connected, and are used as
Transmit the public passage of information.The agricultural work vehicle system product has (12) human-computer interaction module (24), may be programmed
Control function module (19), communication module (23), position control module (22), memory module (20), decoding processing module
(16), data processing module (18), management and diagnostic module (25), work operations program module (17), system bus module
(21).Agricultural work vehicle control system receives agricultural work vehicle system product using agricultural work vehicle control device (10)
(12) row decoding parsing is entered, by the instruction of agricultural work vehicle system product (12), data, operational order, system operation etc.
Information is stored in designated memory as requested.When agricultural work vehicle control system (15) works, using agricultural work vehicle control
The work operations program module (17) of operating area needed for device (10) reception processed enters row decoding, computing, processing output control letter
Breath drives agriculture machine to be operated.
Referring to Fig. 3, agricultural work vehicle control device (10) so works：
The work operations program module (17) of operating area needed for S1 is input to agricultural work vehicle control device (10).
S2 agricultural work vehicles control device (10) is by input unit (1) according to agricultural work vehicle system product (12)
Decoding processing module (16) the work operations program module (17) of required operating area is entered row decoding parsing.Isolate into
To function command, miscellaneous function instruction, change facility instruction, rotary shaft function command, preparatory function instruction, coordinate offset number
According to, power tool offset data, speed data.
S3 agricultural work vehicles control device (10) is handled preparing function command.Preparatory function is instructed according to agricultural
The requirement of the memory module (20) of working rig system product (12) is stored in the buffering for the memory (2) specified by instructing
In memory.
S4 agricultural work vehicles control device (10) instructs to miscellaneous function, changes facility instruction, rotary shaft function command enters
Row processing.Miscellaneous function is instructed, changes facility instruction, rotary shaft function command according to agricultural work vehicle system product
(12) requirement of memory module (20) will be instructed and is stored in the buffer storage for the memory (2) specified.
S5 agricultural work vehicles control device (10) is handled coordinate offset data, power tool offset data.It will sit
Offset data, power tool offset data are marked according to the memory module (20) of agricultural work vehicle system product (12)
It is required that in the buffer storage for the memory (2) that data deposit is specified.
S6 agricultural work vehicles control device (10) is at the speed data of feed function instruction and feed function instruction
Reason.By speed data the depositing according to agricultural work vehicle system product (12) of feed function instruction and feed function instruction
The requirement of memory modules (20) will instruct, in the buffer storage for the memory (2) that data deposit is specified.
The operational part of the microprocessor (6) of S7 agricultural work vehicles control device (10) produces according to agricultural work vehicle system program
Coordinate offset data, power tool offset data, standard are taken out in the requirement of the data processing module (18) of product (12) from buffer
Standby function command carries out interpolation pretreatment.Proportional zoom, the mirror image that coordinate offset data are carried out to working rig motion path reflect
Penetrate, coordinate system rotation, polar coordinates to rectangular coordinate system convert etc. working rig coordinate system migration processing.Power tool is compensated into number
According to the radius compensation of progress power tool, the length compensation of power tool.Preparatory function instruction is moved substantially, program
The processing such as modules interrupts, plane selection, setting coordinate, tool compensation, fixed cycles, yard and meter turn.
The operational part of the microprocessor (6) of S8 agricultural work vehicles control device (10) produces according to agricultural work vehicle system program
The requirement of the data processing module (18) of product (12) is to preparing function command, feed function instruction and electric logic control device
(9) change facility instruction, miscellaneous function instruction, the action of rotary shaft function command completion information etc. through logical operation is believed
Breath carries out interpolation meter using the methods of point-to-point comparison method, digital integration, vector diagnostic method, comparing integral, minimum deviation method
Calculate.It will instruct, information carries out linear interpolation calculating, circular interpolation calculatings, lifting speed interpolation calculating, coordinate transform calculate, work
The calculating processing such as industry lathe body error compensation calculating.The supplying position set-point of feed shaft is drawn after calculating.
The positioner (7) of S9 agricultural work vehicles control device (10) obtains entering for feed shaft by system bus (5)
The detection actual value moved to position set-point and by detector by S12 to feed shaft is according to agricultural work vehicle system journey
The requirement of the position control module (22) of sequence product (12) is compared, adjusted；Show that accurately end value is turned by converter
Give driver.Show that accurately end value is sent to input unit by system bus to be inputted.
The end value that S10 drivers receive live elaborate position carries out signal conversion and voltage, power amplification driving agricultural
The motor of working rig.
The driving that the feeding spindle motor of S11 agricultural work vehicles receives driver is precisely moved.Agricultural work vehicle and its
Feed the detector detection agricultural work vehicle of spindle motor and its actual motion position, the real electrical machinery velocity of rotation of feed shaft.
The detection of S12 agricultural work vehicles will detect the actual motion position of agricultural work vehicle and its feed shaft with feedback device
Put, real electrical machinery velocity of rotation feeds back to positioner and handled.
The electric logic control device (9) of S13 agricultural work vehicles control device (10) is by system bus (5) according to system
The requirement of management module (21), programmable control function module (19) refers to from the instruction of buffer scanning miscellaneous function, replacing instrument
Make, rotary shaft function command, the programmable device (51) of scanning human-computer interaction device (4), the user program module letter of input through keyboard
Breath, the communication information of scanning communicator (3) and the CPU (51) of scanning electric logic control device (9), memory, input are defeated
Go out module.Electric logic control device (9) completes the scanning of each point and the scanning information of each point is input into image deposit
In device；Refreshed simultaneously and resolving user logic will be carried out.Electric logic control device is carried out according to programmable control module
Logic judgment, arithmetical operation, export the miscellaneous function instruction of processing, change facility instruction, rotary shaft function command.
Interface of the electric logic control device (9) of S14 agricultural work vehicles control device (10) to human-computer interaction device (4)
The operation of signaling zone and agricultural work vehicle system is controlled.The speed of rotary shaft, direction of rotation are completed, opens/stops, working rig
The action control such as replacing instrument, power tool storage.Complete the various switches control of agricultural operation pusher side.Complete agricultural operation
The Fault Control of pusher side and drive device and electrical control cubicles, the control for completing software driver.
S15 rotary shaft drives receive the control information of the rotary shaft of electric logic control device (9), carry out signal conversion
And voltage, the shaft rotating motor of power amplification driving agricultural work vehicle.
The driving that the shaft rotating motor of S16 agricultural work vehicles receives driver is precisely moved.Agricultural work vehicle and its
The various detectors detection agricultural work vehicle of shaft rotating motor and its actual motion speed of rotary shaft, real electrical machinery rotate shape
State and various switching informations, other information.
The various detectors of S17 agricultural work vehicles and its each shaft rotating motor detect the reality of agricultural work vehicle and its rotary shaft
Border movement velocity, real electrical machinery rotary state and various switching informations, other information feed back to electric logic control device (9).
Referring to Fig. 4, agricultural work vehicle control device, which is performed such, enters row decoding and diagnosis to work operations program module
's：
The work operations program module of operating area needed for agricultural work vehicle is pre-processed and is input to finger by S20 by input unit
In fixed buffer.
S21 decoder unit takes out a character according to decoding module requirement from buffer.
S22 decoder unit requires that carrying out function word address character is judged according to decoding module.
If function word address character, decoder unit sets corresponding S23 according to decoding module requirement to the function word address character
Mark.
S24 decoder unit sets corresponding mark to enter line pointer amendment the function word address character according to decoding module requirement,
And the pointer update information is subjected to circular treatment.
If S25 function word address characters are no, decoder unit carries out numerical character judgement according to decoding module requirement to the character.
For S26 if numerical character, decoder unit sets corresponding mark to the numerical character according to decoding module requirement, enters
Row is handled and stored.
S27 decoder unit carries out grammer judgement according to decoding module requirement to the numerical character of the storage.
If S28 syntax errors are no, decoder unit enters line pointer amendment according to decoding module requirement to the numeric word, and should
Pointer update information carries out circular treatment.
If S29 syntax errors are, decoder unit is configured syntax error mark according to decoding module requirement to the numeric word
Will is simultaneously shown to human-computer interaction device, and alarms.
S30 carries out termination character judgement according to decoding module requirement if not numerical character, decoder unit to the character.
S31 carries out prompting to the character according to decoding module requirement and inputs illegal word if not termination character, decoder unit
Symbol.
For S32 if termination character, decoder unit carries out logic error judgement according to decoding module requirement to the character.
If S33 terminates without logic error, decoder unit according to decoding module requirement to character output decoding.
S34 if logic error, have a forbidden character, decoder unit is required to set error flag and reported according to decoding module
It is alert.
Referring to Fig. 5 Fig. 6, there is positioner position to compare, adjuster, and speed ratio is compared with, adjuster, positioner root
According to the requirement of position control module receive the set-point of the feeding instruction of operational part and the actual speed of agricultural work vehicle feedback
Angle value, actual positional value；Line position of going forward side by side is put, speed ratio compared with regulation, show that accurate object information is controlled driver and entered
Row work.
Referring to Fig. 7, communicator has information transmitting apparatus (44), information receiver (45), communication media (46).Letter
Ceasing dispensing device (44) has encoder, modulator.Information receiver (45) has demodulator, decoder.Communication media
(46) there are wireless network, cable network, Ethernet, LAN, internet.Communicator is according to the communications applications of communication module
Database, communication protocol, NMP and agricultural work vehicle itself, ground installation, working rig airborne equipment, other works
Industry machine equipment communicates and data transfer.
Referring to Fig. 8, Fig. 9, electric logic control device by CPU (52), user memory (53), system storage (54),
Input/output interface module (55), output interface module (57), input interface module (56), programmable device (51) composition.
Electric logic control device is performed such work：
S35 electric logic controls device scans the various on off states of input/output terminal, and filter time constant, output
The information such as the mechanical hysteresis of electrical equipment are stored in image register.
S36 electric logic controls device is read in the information in image register according to trapezoid figure program and inputs shape
State, carry out logic resolving.
S37 electric logic control devices are scanned to programmable device, and all instructions are scanned and finished, complete logic solution
Calculate.
S38 electric logic control devices are updated display.
The state for exporting image register is gone to I/O and is controlled driver by the CPU of S39 electric logic control devices.
For the purposes of the present invention, technical scheme is more clearly understood, and further, the present invention is embodied
Example explanation, but the present invention is not intended to be limited in any, the present invention is further said only with reference to embodiment as described below
It is bright.
The agricultural work vehicle control device of the embodiment of the present invention is used to receive agricultural work vehicle system software program and basis
Agricultural work vehicle work operations program requires that control agricultural work vehicle carries out automated job.The agricultural work vehicle control dress
Put with microprocessor, bus, memory, positioner, electric logic control device, communicator, man-machine interaction dress
Put, input/output interface.The bus by microprocessor, memory, positioner, electric logic control device, communication
The functional devices such as device, human-computer interaction device, input/output interface are attached.The bus is each function of control device
Device data information, address information, control information.
The embodiment of the present invention also provides a kind of control system with agricultural work vehicle control device.The agricultural work vehicle
Control system has agricultural work vehicle control device and agricultural work vehicle system software product.The agricultural work vehicle control
Device has microprocessor, bus, memory, positioner, electric logic control device, communicator, man-machine interaction dress
Put, input/output interface；The bus by microprocessor, memory, positioner, electric logic control device, communication
The functional devices such as device, human-computer interaction device, input/output interface are attached, and the bus is that each functional device transmits number
It is believed that breath, address information, control information.The agricultural work vehicle system software product has human-computer interaction module, programmable control
Functional module processed, communication module, position control module, memory module, decoding processing module, data processing module, management with
Diagnostic module, work operations program module, system bus module.
Further, agricultural work vehicle control device involved in the present invention and its control system are optimized,
Preferably, the microprocessor is responsible for transporting the data input of agricultural work vehicle course of work service, data processing, interpolation
The various programs such as calculation are scheduled management.Preferably, the microprocessor is also responsible for guidance panel order, clock signal, event
Interrupt and handled caused by barrier signal etc..Preferably, the microprocessor is also responsible for CPU management and peripheral equipment management, as before
The reasonable arrangement of background program and co-ordination, being in communication with each other between interrupt service routine, various letters on human-computer interaction device
The monitoring of breath.Preferably, the microprocessor also realizes management and organizes whole agricultural work vehicle control system course of work institute
The function of needing.Preferably, the microprocessor also realize the system initialization of agricultural work vehicle system software, interrupt management,
Bus ruling, system fault identification and processing and hardware and software diagnosis.Preferably, the microprocessor completes agricultural work vehicle
Pretreatment before the interpolations such as the decoding of work operations program, tool compensation are calculated, coordinate displacement amount calculates and feed speed is handled；
Then interpolation calculating is carried out again, and position specified rate is provided for each axle of agricultural work vehicle.Preferably, the microprocessor is also completed
The radius compensation of length compensation, working rig power tool to working rig power tool, anti-backlash compensation, leading screw pitch compensation,
Cross quadrant and direction of feed judges, feed speed converts, feed speed control and miscellaneous function are handled.Preferably, the microprocessor
Device is additionally operable to according to the data provided in agricultural work vehicle work operations program module, the species of such as curve, starting point, terminal
Carry out computing.
Preferably, the positioner is used for the instruction theory set-point and position detection dress for receiving microprocessor output
Put the actual value measured to be compared, the input that its difference is adjusted as drive device, through driver control servomotor.It is excellent
Selection of land, the positioner be additionally operable to complete the Gain tuning of position loop, the compensation of pitch error of each coordinate and reversely between
Gap compensates, to improve the positioning precision of agricultural work vehicle.Preferably, the positioner be additionally operable to carry out automatic deceleration,
Reference point, the monitoring of servo-drive system hysteresis and drift compensation, the analog voltage of speed control is finally obtained, go to drive agriculture
The feeding motor of industry working rig.
Preferably, emergent stopping, the profit of the electric logic control device processing agricultural work vehicle and its each mechanical device
The signals such as cunning, cooling, operating type selection, hand feed, motor start and stop.Preferably, the electric logic control device is also right
The processes such as the selection tool of agricultural work vehicle, positioning carry out logic control.Preferably, the electric logic control device is also to making
The action process such as the rotary shaft rotating of industry machine, orientation, speed change are controlled.Preferably, the electric logic control device is used
The information of switching function and agricultural work vehicle bed body in working rig working procedure does logical process, realizes each function and behaviour
Make chain, start and stop, power tool exchange, the counting of the duration of runs of the electric equipment of working rig between mode.
Preferably, the memory is used to deposit agricultural work vehicle system program and work operations program, is deposited using described
Reservoir is additionally operable to carry out data transmission between each functional module for control device.The memory is used to receive agricultural work vehicle
Real time data during work is stored and managed, to be used for follow-up work.
Preferably, the human-computer interaction device has display, programmable device, input interface, output interface, touch-screen or key
Disk.Preferably, the display of the human-computer interaction device is used for displaing coordinate value parameter and instruction code, function code, operation area
The figure shows in domain, coordinate value are shown, operational module is shown, alarm signal is shown, other displays.Preferably, the man-machine friendship
The work such as mutual device is for being manually entered, operation interface switching.Preferably, the human-computer interaction device is additionally operable to working rig institute
Need operating area, working rig work operations program, working rig system program, job parameter, various operational orders, data etc.
Input, output, display.
Preferably, the communicator has working rig self communication module, ground installation communication module, other working rigs
Airborne equipment communication module, other working rig system communication modules；Preferably, the communicator is used for realizing agricultural operation
The self communication of machine system, for realize in agricultural work vehicle unit, multiple unit operation with other extraneous agricultural work vehicle systems,
Airborne equipment system, ground installation system are communicated.
Preferably, the system bus has data/address bus, address bus and controlling bus.Preferably, the system is total
Line is used for agricultural work vehicle system data information, address information, control information.Preferably, the data/address bus is used to pass
Send data message.The data/address bus is the bus of two-way three-state form, for CPU data to be sent to memory or I/O
Other parts such as interface, it is additionally operable to the data of other parts being sent to CPU；The data/address bus transmission is real number
According to, instruction code or status information, and control information.Preferably, the address bus is used for transfer address, for from CPU
External memory storage or I/O ports are transmitted to, the address bus is unidirectional tri-state.Preferably, the controlling bus is used for transmitting control
Signal and clock signal processed.
Further, optimize
Agricultural work vehicle control device is used for the input for undertaking agricultural work vehicle operating system software and editor, for identifying and transporting
Row standardization and customized instruction code, for being controlled to agricultural work vehicle, for agricultural operation operators and agriculture
Industry working rig is interacted, controlled for carrying out multimachine Operation control with communication and automatic job state with communicating, for agricultural
Information of the fault diagnosis of working rig with feedback control, for the various information conversion controllers in the external world can be identified.It is described
Agricultural work vehicle control device has the control number of axle and number of motion axes function, preparatory function (G functions), interpolation function, speed work(
Energy, compensation function, feed function, fixed cycles function, miscellaneous function (M codes), character graphics display function.
Preferably, the CPU of the electric logic control device is received and is stored the working rig work journey from programmable device input
Sequence and data；The state or data of live input unit are received with scan mode, and is stored in image register or data register
In；Diagnose the syntax error in power supply and PLC internal circuits working condition and programming process；After PLC enters running status,
PLC reading operation machine working procedure modules one by one from memory, the task as defined in instruction, produce corresponding control signal,
Go to open and close relevant control gate circuit, complete the task such as logic or arithmetical operation specified in agricultural work vehicle working procedure module,
Realize the function such as output control or data communication.Preferably, the system program memory to storage system working procedure,
Modular applications function subprogram etc.：The system product memory is storing the functions such as various systematic parameters.It is preferred that
Ground, the user memory is depositing working rig working procedure module.The memory is used to store execution logic computing, suitable
The instruction of the work operations programs of specific function such as sequence control, timing, calculating and arithmetical operation, and pass through digital or simulation
The input and output of formula, the system work of control agricultural work vehicle.Preferably, the input/output (I/O) is CPU and live I/
External input signal is transformed into the signal that CPU can receive by the connection member between O device or other external equipments, I/O, or
The control signal that CPU output signal is transformed into needs removes drive control object, it is ensured that system operation.Preferably, the volume
Journey device is used for establishment, logic, debugging detection and the monitoring that agricultural work vehicle operating personnel carry out agricultural work vehicle working procedure,
PLC internal state and parameter is called and shown by keyboard；Contacted by COM1 and CPU, complete human-computer dialogue and connect
Connect.
In addition, control device according to embodiments of the present invention and its control system can also be optimized as follows：
Some embodiments, the memory storage agricultural work vehicle system product, agricultural work vehicle working procedure module.Institute
State input unit and receive agricultural work vehicle external information, agricultural work vehicle system product, agricultural work vehicle working procedure mould
Block is converted into the data flow that control device can identify.Output device output control information control agricultural work vehicle and its each
Mechanical device is operated.The communicator completes control device and enters line number with agricultural work vehicle itself and its extraneous facility
According to transmission and information communication.The human-computer interaction device is used for the defeated of the various operational orders of agricultural work vehicle system, data etc.
Enter, export, show；The electric logic control device is completed to the switching function in the work operations program of agricultural work vehicle
Information that the signal of information and agricultural work vehicle bed body, operation operators input etc. carries out logical process, exports logic control
Information.The positioner is used to be compared the instruction set-point after processing with the actual value that position detecting device measures
Compared with, regulation；Carry out automatic deceleration, reference point, the monitoring of drive system hysteresis and drift compensation.
Further optimization,
The input unit has decoding analysis unit；The decoding analysis unit is made in units of a program segment to agricultural work vehicle
Industry working procedure is handled, and the working rig work operations expressed by required operating area, operating type, other information are believed
Breath, Working motion mode, operating speed information and other auxiliary informations are construed to control device energy according to certain syntax rule
The data mode of identification, and the memory specified is stored in certain data format；During decoding, also it is used for completing
Syntax check to work operations program segment, it is found that syntax error is alarmed immediately.
Some embodiments, the microprocessor have：Management department, diagnostics division, data processing division.The management department has
CPU is managed and peripheral equipment management；Reasonable arrangement and co-ordination for front and back program, it is mutual between interrupt service routine
Communicate, the monitoring of various information on the control panel and guidance panel of agricultural work vehicle.The diagnostics division in system operation and
Shi Faxian agricultural work vehicles system product, the failure of hardware, and fault type is pointed out, can be before operation, failure generation
Afterwards, check whether the function of agricultural work vehicle various parts is normal, and point out the position broken down.The data processing
Portion compensates calculating, coordinate system calculations of offset, interpolation calculating, coordinate transform calculating, bed in system operation to power tool
Body error compensation calculates.
Some embodiments, memory are used to store the parameter of agricultural work vehicle system product with operational order and to controls
Each functional device of device processed provides corresponding parameter and data, order；And the parameter of reception functional device return each with management,
Data, order.
Some embodiments, the positioner is within each sampling period of agricultural work vehicle drive system, by theory
Given position value input of its difference as driving regulation, drives compared with actual feedback positional value through driver control
Motor；It is used to complete the Gain tuning of position loop, the compensation of pitch error of each coordinate in controlling in position and sows distrust among one's enemies gap benefit
Repay, to improve the positioning precision of working rig and its each mechanical device.
Some embodiments, the communicator receives the communication information of microprocessor, according to the communication protocol of communication module
Requirement, information needed is sent into each corresponding device；The communicator realizes the self communication of agricultural work vehicle system；
Realize that agricultural work vehicle is set in unit, multiple unit operation with other extraneous agricultural work vehicle systems, airborne equipment system, ground
System etc. is applied to be communicated.
Some embodiments, the electric logic control device receives inputs information, micro- according to the programmable device of agricultural work vehicle
The information and agricultural operation pusher side institute feedack that processor is sent carry out logical operation process；Realize to agricultural operation
The control of machine guidance panel；Realize the control to the input signal of agricultural operation pusher side；The electric logic control device is also right
Itself output signal controls；The electric logic control device is also to agricultural work vehicle rotary shaft, the motor of servicing unit
Control；Control of the electric logic control device also to alert process；The electric logic control device also drives to software
The control of dynamic system.
Some embodiments, the human-computer interaction device have display, programmable device, operation keyboard, software input interface；Institute
State programmable device, operation keyboard is used for operating personnel and inputs various control information and operational order by the human-computer interaction device,
To realize the operation of control working rig system；The human-computer interaction device also has display, and the display is used for operation
Machine system mode is shown, work operation display；The human-computer interaction device is additionally operable to the adjustment of working rig bed body, work operations journey
The writing and manage of sequence module, the setting and management of running parameter.
Some embodiments, the agricultural work vehicle control system have agricultural work vehicle control device, agricultural work vehicle system
System program product；The agricultural work vehicle control device has microprocessor, system bus, memory, input unit, output
Device, positioner, human-computer interaction device, communicator, electric logic control device.The microprocessor management and control
The operation of agricultural work vehicle system processed.The system bus is by microprocessor, memory, human-computer interaction device, input/defeated
Go out the relatively independent device such as device, positioner, communicator, electric logic control device, functional part contacts
Come, and as the public passage of transmission information.The agricultural work vehicle system product has human-computer interaction module, can compiled
Process control functional module, communication module, position control module, memory module, decoding processing module, data processing module, pipe
Reason and diagnostic module, work operations program module, system bus module.
Further, optimize,
The human-computer interaction module inputs various control information and behaviour to realize that operating personnel pass through the human-computer interaction device
Order, to realize the operation of control working rig system；The human-computer interaction module is realizing that working rig system mode shows
Show, work operation display；The human-computer interaction module to realize working rig bed body adjustment, work operations program module volume
Write and manage, the setting and management of running parameter.
The programmable control function module receives the auxiliary function that the decoding portion separates out, the stroke of working rig is opened
The device signals such as pass, button switch, limit switch, programmable device use performs user program in a manner of multiple scanning, is performing journey
The on off operating mode of all input terminals is read in input mapping register by geocoding order first before sequence, then started
User program is performed, in the process of implementation, even if input signal changes, it is also constant to input the content of mapping register, directly
The input processing stage to next scan period just re-reads input state；Stage, PLC sequential scans are performed in program
User program；Information required for often performing a program is all read from input mapping register and other internal registers
And participate in calculating, then implementing result is write in output mapping register；After all instructions is finished, map will be exported
State in register is completely transferred in output latch register, and agricultural work vehicle is sent to by fieldbus drive division
It is each to perform electrical equipment；
The communication module has communication protocol；The communication module is realizing the self communication of agricultural work vehicle system；It is real
Existing agricultural work vehicle in unit, multiple unit operation with other extraneous agricultural work vehicle systems, airborne equipment system, ground installation
System etc. is communicated.
The position control module is used for realizing each sampling period of the positioner in agricultural work vehicle drive system
It is interior, by theoretical given position value compared with actual feedback positional value, input of its difference as driving regulation, through driving
Device controls motor；Position control in be used for complete the Gain tuning of position loop, the compensation of pitch error of each coordinate and
Anti- backlash compensation, to improve the positioning precision of working rig and its each mechanical device.
The memory module is used for storing the parameter of agricultural work vehicle system product with operational order and to each work(
Can the corresponding parameter of module offer and data, order；And receive the parameter, data, order with managing each functional device return.
The decoding processing module is handled agricultural work vehicle working procedure module in units of a program segment,
Required operating area, operating type, the working rig work operations information expressed by other information, Working motion mode, operation speed
Degree information and other auxiliary informations are construed to the data mode that control device can identify according to certain syntax rule, isolate
Motion control instruction and miscellaneous function control instruction information；The motion control instruction is exported to position control module；Will be auxiliary
Help function command to export and give PLC functional modules；During decoding, also it is used for completing the grammer inspection to work operations program segment
Look into, it is found that syntax error is alarmed immediately.
The data processing module, the data processing division compensate calculating to power tool in system operation, sat
Mark system calculations of offset, interpolation calculating, coordinate transform calculating, bed body error compensation calculate.
The management has CPU management and peripheral equipment management with diagnostic module；Reasonable arrangement and association for front and back program
Work is adjusted, being in communication with each other between interrupt service routine, various information on the control panel and guidance panel of agricultural work vehicle
Monitoring.The diagnostics division finds agricultural work vehicle system product, the failure of hardware in time in system operation, and points out
Fault type, it can check whether the function of agricultural work vehicle various parts is normal, and point out before operation, after failure generation
The position broken down.
The work operations program module is according to operating area pattern or operating area crops Eigen Structure and work
Operating type, operation process, technological parameter are using letter, numeral and a set of basic symbol provided needed for industry region, by one
The language of fixed morphology and syntax rule composition, for describing the correlation between the geometry of operating area, geometric element
And the language of agricultural work vehicle operation process, technological parameter is worked out to describe agricultural work vehicle operation process；The work
Industry working procedure module has：Preparatory function G instructions, feed function F instructions, rotation axle speed S instructions, power tool T refer to
Make, miscellaneous function M is instructed, custom instruction.
The system bus module is by human-computer interaction module, programmable control function module, communication module, position control
Module, memory module, decoding processing module, data processing module, management and diagnostic module, work operations program module etc.
Independent functional module connects, and as the public passage of transmission information.
It is apparent that ground, above example, involved agricultural work vehicle control device and its control system can be easy
Realize the effect of the control device for carrying out automated job and its control system in ground；And involved agricultural work vehicle control dress
Put and its control system can be realized easily.
The above described is only a preferred embodiment of the present invention, not the present invention is imposed any restrictions, the present invention with
Preferred embodiment is disclosed above, is not limited to the present invention, any person skilled in the art, is not departing from this hair
In the range of bright technical scheme, when the technology contents using the disclosure above make change or are modified to the equivalent reality of equivalent variations
Example is applied, as long as being without departing from technical solution of the present invention content, according to the technical spirit of the present invention, in the spiritual and former of the present invention
Within then, any modification, equivalent substitution and improvement for being made to above example etc., technical solution of the present invention is still fallen within
Protection domain.
Claims (10)
1. agricultural work vehicle control device, for receiving agricultural work vehicle system software program and according to agricultural operation machine operation work
Make program and require that control agricultural work vehicle carries out automated job, it is characterised in that including：Microprocessor, bus, memory,
Positioner, electric logic control device, communicator, human-computer interaction device, input/output interface；The bus will be micro-
Processor, memory, positioner, electric logic control device, communicator, human-computer interaction device, input/output interface
It is attached Deng functional device, the bus is each functional device data information of control device, address information, control letter
Breath.
2. agricultural work vehicle control device according to claim 1, it is characterised in that including：
Microprocessor has：
Management department；The management department has CPU management and external device management；Front and back program for agricultural work vehicle system
Reasonable arrangement and co-ordination, being in communication with each other between interrupt service routine, the control panel and operating surface of agricultural work vehicle
The monitoring of various information on plate；
Diagnostics division；The diagnostics division finds in agricultural work vehicle system operation agricultural work vehicle system software, hardware in time
Failure, and fault type is pointed out, can be before operation, after failure generation, whether the function of inspection agricultural work vehicle various parts
Normally, and the position broken down is pointed out；
Data processing division；The data processing division carried out in system operation power tool compensation calculation, coordinate system calculations of offset,
Interpolation calculating, coordinate transform calculating, bed body error compensation calculate.
3. agricultural work vehicle control device according to claim 1 or 2, it is characterised in that including：
The memory storage agricultural work vehicle system software program, agricultural work vehicle working procedure；
The input interface receives agricultural work vehicle external information and is converted into the data flow that agricultural work vehicle control device can identify；
The output interface output control information control agricultural work vehicle and its each mechanical device are operated；
The communicator completes control device and agricultural work vehicle itself and its extraneous facility carries out data transmission and information is led to
Letter；
The human-computer interaction device is used for the various operational orders of agricultural work vehicle system, the input of data, output, display；
The electric logic control device is completed to the emergent stopping of agricultural work vehicle and its each mechanical device, lubrication, cooling, work
The signals such as industry mode selects, hand feed, motor start and stop；Also complete to agricultural work vehicle select power tool, working rig and its
The processes such as each mechanical device positioning carry out logic control；The rotary shaft rotating to working rig, orientation, speed change etc. is also completed to act
Process is controlled；Also complete to do at logic the information of the switching function in working rig working procedure and agricultural work vehicle bed body
Reason, realizes chain between each function and mode of operation, the start and stop of the electric equipment of working rig, power tool exchange, operating when
Between counting；
The positioner enters the theoretical set-point of instruction of microprocessor processes with the actual value that position detecting device measures
Row such as calculates, compared, adjust at the processing, and output result command information controls driver to drive the motor of agricultural work vehicle.
4. the agricultural work vehicle control device according to any one in claim 1-3, it is characterised in that including：Storage
The parameter that device is used to store agricultural work vehicle system software program provides phase with operational order and to each functional device of control device
The parameter answered and data, order；And receive the parameter, data, order with managing each functional device return.
5. the agricultural work vehicle control device according to any one in claim 1-4, it is characterised in that including：It is described
Positioner is within each sampling period of agricultural work vehicle drive system, by theoretical given position value and actual feedback position
Value is compared, input of its difference as driving regulation, through driver control motor；It is used to complete in controlling in position
The Gain tuning of position loop, the error compensation of each coordinate and anti-backlash compensation.
6. the agricultural work vehicle control device according to any one in claim 1-5, it is characterised in that including：It is described
Communicator realizes the self communication of agricultural work vehicle system；Realize agricultural work vehicle in unit, multiple unit operation with it is extraneous its
His agricultural work vehicle system, airborne equipment system, ground installation system etc. are communicated.
7. the agricultural work vehicle control device according to any one in claim 1-6, it is characterised in that including：
Control of the electric logic control device to agricultural work vehicle guidance panel；The electric logic control device is to agricultural
The control of the input signal of operation pusher side；The electric logic control device is controlled itself output signal；The electric logic
Control of the control device to the motor of agricultural work vehicle；Control of the electric logic control device to alert process；Institute
State control of the electric logic control device to software driven system.
8. the agricultural work vehicle control device according to any one in claim 1-7, it is characterised in that；Including：
The human-computer interaction device is used for the operation that operating personnel control working rig system by the human-computer interaction device；Also use
In working rig system mode is shown, work operation display；For working rig bed body adjustment, work operations text module write and
Management, the setting and management of running parameter.
9. agricultural work vehicle control system it is characterised in that it includes：Agricultural work vehicle control device, agricultural work vehicle system software
Product；The agricultural work vehicle system software product have human-computer interaction module, programmable control function module, communication module,
Position control module, repository module, decoding processing module, data processing module, management and diagnostic module, work operations program
Module, system bus module.
10. agricultural work vehicle control system according to claim 9 it is characterised in that it includes：According in claim 1-8
Agricultural work vehicle control device described in any one.
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| CN201710603870.1A CN107357208A (en) | 2017-07-17 | 2017-07-17 | Agricultural work vehicle control device and its control system |
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Application publication date: 20171117 |