CN108535031B - Agricultural loading vehicle steering correction system and method - Google Patents
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Abstract
Description
技术领域technical field
本发明属于农用车转向技术领域，特别涉及一种农用装载车转向校正系统及方法。The invention belongs to the technical field of agricultural vehicle steering, and in particular relates to a steering correction system and method for an agricultural loading vehicle.
背景技术Background technique
现有技术中，农用车辆需要重复性进行反复转向操作，在进行农业操作时，面对的地形常常是不规则的，然而，农用装载车等农用车经常会遇到转向控制与实际控制存在一定的差异，这种差异导致农用车使用时，控制不够准确，尤其是在重复操作后，这种差异会改变，在一段时间后，这种差异会加大，导致操作者操作农用车时非常费力，因此，给用户带来了操作上的极大的不便捷性。严重时，可能会造成安全问题。In the prior art, agricultural vehicles need to repeatedly perform repeated steering operations. During agricultural operations, the terrain they face is often irregular. However, agricultural vehicles such as agricultural loaders often encounter certain differences between steering control and actual control. This difference leads to inaccurate control when the agricultural vehicle is used, especially after repeated operations, this difference will change, and after a period of time, this difference will increase, causing the operator to operate the agricultural vehicle very laboriously , therefore, it brings great inconvenience to the user in operation. In severe cases, it may cause safety problems.
申请内容Application content
为解决上述技术问题：本申请提出一种农用装载车转向校正方法，包括如下步骤：In order to solve the above-mentioned technical problems: the application proposes a steering correction method for an agricultural loading vehicle, comprising the following steps:
1）接收输入信号；1) Receive the input signal;
2）根据接收到的输入信号，滤除明显偏差过大的瞬时值；2) According to the received input signal, filter out the instantaneous value with obvious deviation;
3）滤除明显偏差过大的瞬时值后，计算死区宽度；3) After filtering out the instantaneous value with obvious deviation, calculate the dead zone width;
4）根据确定的死区宽度进行转向死区补偿，以对所述农用装载车转向进行校正。4) Perform steering dead zone compensation according to the determined dead zone width to correct the steering of the agricultural loading vehicle.
所述的农用装载车转向校正方法，所述步骤3）中具体包括：In the method for correcting the steering of an agricultural loading vehicle, the step 3) specifically includes:
S11）控制农用装载车向第一方向转向最大值，重复n次，测量并记录每次转向的具体转向角度，n为大于或等于2的自然数；S11) Control the agricultural loading vehicle to turn to the maximum value in the first direction, repeat n times, measure and record the specific steering angle of each turn, n is a natural number greater than or equal to 2;
选取其中最大转向的值作为第一标准值，计算所述第一标准值与其他n-1次转向角度的第一差值，求取所述第一差值的平均值S1；Selecting the maximum steering value as the first standard value, calculating the first difference between the first standard value and other n-1 steering angles, and obtaining the average value S1 of the first difference;
S12）通过第一计时模块，测量并记录在第一方向上每次转向到最大值的第一时间T1；计算所述第一时间T1的平均时间T1av,所述第一标准值除以所述平均时间T1av，得到第一基准速度V1；S12) Through the first timing module, measure and record the first time T1 of each turn to the maximum value in the first direction; calculate the average time T1av of the first time T1, and divide the first standard value by the Average time T1av to obtain the first reference speed V1;
S13）控制农用转载车向第一方向转向小于最大值的任意一角度，重复m次，测量并记录每次转向的具体转向角度，m为大于或等于2的自然数；S13) Control the agricultural reloading vehicle to turn to any angle less than the maximum value in the first direction, repeat m times, measure and record the specific steering angle of each turn, m is a natural number greater than or equal to 2;
计算m次具体转向角度的平均值，选取作为第二标准值，计算所述第二标准值与其他m-1次转向角度的第二差值，以第二差值的绝对值计算第二差值的平均值S2；Calculate the average value of m specific steering angles, select it as the second standard value, calculate the second difference between the second standard value and other m-1 steering angles, and calculate the second difference with the absolute value of the second difference. the mean of the values S2;
S14) 通过第二计时模块，测量并记录在第一方向上每次转向到所述任意一角度的第二时间T2；计算所述第二时间T2的平均时间T2av,所述第二标准值除以所述平均时间T2av，得到二基准速度V2；S14) Through the second timing module, measure and record the second time T2 of each turn to the arbitrary angle in the first direction; calculate the average time T2av of the second time T2, divide the second standard value by With the average time T2av, two reference speeds V2 are obtained;
S15）计算第一死区宽度L1,
所述的农用装载车转向校正方法，所述步骤3）中具体包括：S21）控制农用装载车向第二方向转向最大值，重复n次，测量并记录每次转向的具体转向角度，n为大于或等于2的自然数；In the method for correcting the steering of an agricultural loading vehicle, the step 3) specifically includes: S21) Controlling the agricultural loading vehicle to turn to the maximum value in the second direction, repeating n times, measuring and recording the specific steering angle of each steering, where n is a natural number greater than or equal to 2;
选取其中最大转向的值作为第三标准值，计算所述第三标准值与其他n-1次转向角度的第三差值，求取所述第三差值的平均值S3；Selecting the value of the largest steering as the third standard value, calculating the third difference between the third standard value and other n-1 steering angles, and obtaining the average value S3 of the third difference;
S22）通过第三计时模块，测量并记录在第二方向上每次转向到最大值的第三时间T3；计算所述第三时间T3的平均时间T3av,所述第三标准值除以所述平均时间T3av，得到第三基准速度V1；S22) Through the third timing module, measure and record the third time T3 of each turn to the maximum value in the second direction; calculate the average time T3av of the third time T3, and divide the third standard value by the Average time T3av to obtain the third reference speed V1;
S23）控制农用转载车向第二方向转向小于最大值的任意一角度，重复m次，测量并记录每次转向的具体转向角度，m为大于或等于2的自然数；S23) Control the agricultural reloading vehicle to turn to any angle less than the maximum value in the second direction, repeat m times, measure and record the specific steering angle of each turn, m is a natural number greater than or equal to 2;
计算m次具体转向角度的平均值，选取作为第四标准值，计算所述第四标准值与其他m-1次转向角度的第四差值，以第四差值的绝对值计算第四差值的平均值S4；Calculate the average value of m specific steering angles, select it as the fourth standard value, calculate the fourth difference between the fourth standard value and other m-1 steering angles, and calculate the fourth difference with the absolute value of the fourth difference. the mean of the values S4;
S24) 通过第四计时模块，测量并记录在第二方向上每次转向到所述任意一角度的第四时间T4；计算所述第四时间T4的平均时间T4av,所述第四标准值除以所述平均时间T4av，得到四基准速度V4；S24) Through the fourth timing module, measure and record the fourth time T4 of each turn to the arbitrary angle in the second direction; calculate the average time T4av of the fourth time T4, divide the fourth standard value With the average time T4av, four reference speeds V4 are obtained;
S25）计算第二死区宽度L2,
所述的农用装载车转向校正方法，计算所述第一死区宽度L1和第二死区宽度L2的差值，当所述差值大于零时，判断所述差值是否大于第一预设差值阈值，如果大于所述第一预设差值阈值，将所述差值除以2得到第一死区偏差值，计算死区值，即将所述第一死区宽度L1减去所述第一死区偏差值，所述第二死区宽度L2加上所述第一死区偏差值，存储上述死区值；当所述差值等于零时，存储所述第一死区宽度L1和所述第二死区宽度L2的相同值；当所述差值小于零时，判断所述差值是否小于第二预设差值阈值，如果小于所述第二预设差值阈值，将所述差值除以2得到第二死区偏差值，计算死区值，即将所述第一死区宽度L1减去所述第二死区偏差值，所述第二死区宽度L2加上所述第二死区偏差值，存储上述死区值。The steering correction method for an agricultural loading vehicle is to calculate the difference between the first dead zone width L1 and the second dead zone width L2, and when the difference is greater than zero, determine whether the difference is greater than a first preset Difference threshold, if it is greater than the first preset difference threshold, divide the difference by 2 to obtain the first dead zone deviation value, calculate the dead zone value, that is, subtract the first dead zone width L1 from the The first dead zone deviation value, the second dead zone width L2 plus the first dead zone deviation value, store the above dead zone value; when the difference is equal to zero, store the first dead zone width L1 and The same value of the second dead zone width L2; when the difference is less than zero, it is determined whether the difference is less than the second preset difference threshold, if it is less than the second preset difference threshold, the The difference is divided by 2 to obtain the second dead zone deviation value, and the dead zone value is calculated, that is, the first dead zone width L1 is subtracted from the second dead zone deviation value, and the second dead zone width L2 is added to the The second dead zone deviation value is stored, and the above dead zone value is stored.
所述的农用装载车转向校正方法，将上述存储的死区值发送到控制器，所述控制器根据接收到的死区值进行转向死区补偿，并计算死区补偿时间。In the steering correction method for an agricultural loading vehicle, the stored dead zone value is sent to the controller, and the controller performs steering dead zone compensation according to the received dead zone value, and calculates the dead zone compensation time.
所述的农用装载车转向校正方法，所述控制器通过最优控制算法控制死区补偿，在固有最优PD控制器确定参数调整的基础上，引入整数阶PD和分数阶PD两种控制结构，其控制模型为：In the steering correction method of the agricultural loading vehicle, the controller controls the dead zone compensation through an optimal control algorithm, and on the basis of the parameter adjustment determined by the inherent optimal PD controller, two control structures of integer-order PD and fractional-order PD are introduced. , and its control model is:
其中，y为横向偏差，u为控制输入，即存储的死区值，Gc(s)为控制函数，
所述的农用装载车转向校正方法，所述接收输入信号具体包括：接收用户进行转向校正命令，通过触摸显示屏接收用户的触摸信号或者通过远程用户终端接收所述转向校正命令。In the steering correction method for an agricultural loading vehicle, the receiving an input signal specifically includes: receiving a steering correction command from a user, receiving a user's touch signal through a touch screen or receiving the steering correction command through a remote user terminal.
所述的农用装载车转向校正方法，所述根据接收到的输入信号，滤除明显偏差过大的瞬时值具体包括：接收输入信号，进行多次转向控制，判断针对同一位置的转向是否存在明显超出正常值的转向，如果存在，则滤除该次转向数据，补充一次转向。In the steering correction method for an agricultural loading vehicle, filtering out the instantaneous value with an excessively large deviation according to the received input signal specifically includes: receiving the input signal, performing multiple steering control, and judging whether there is obvious steering for the same position. If the steering exceeds the normal value, if it exists, filter out the steering data and add a steering.
一种农用装载车转向校正系统，包括如上述任意一项所述的农用装载车转向校正方法，具体包括：控制器，角度传感器，计时模块，驱动器，反馈检测器；所述角度传感器和计时模块将检测的角度和计算的时间传输给控制器，所述控制器计算转向死区，生产死区补偿控制信号，并发送给驱动器，驱动所述农用装载车转向校正，所述反馈检测器检测死区补偿的转向校正，反馈给所述控制器。A steering correction system for an agricultural loading vehicle, comprising the steering correction method for an agricultural loading vehicle according to any one of the above, specifically comprising: a controller, an angle sensor, a timing module, a driver, and a feedback detector; the angle sensor and the timing module The detected angle and the calculated time are transmitted to the controller, the controller calculates the steering dead zone, produces the dead zone compensation control signal, and sends it to the driver to drive the agricultural loading vehicle for steering correction, and the feedback detector detects the dead zone. Zone-compensated steering corrections are fed back to the controller.
所述的农用装载车转向校正系统，所述控制器包括：位置计算模块、平均值计算模块、死区计算模块、输出控制模块；所述计时模块包括第一、第二、第三、第四计时模块；In the steering correction system for agricultural loading vehicles, the controller includes: a position calculation module, an average value calculation module, a dead zone calculation module, and an output control module; the timing module includes a first, a second, a third, and a fourth timing module;
所述位置计算模块控制农用装载车向第一方向转向最大值，重复n次，测量并记录每次转向的具体转向角度，n为大于或等于2的自然数；The position calculation module controls the agricultural loading vehicle to turn to the maximum value in the first direction, repeats n times, measures and records the specific steering angle of each turn, and n is a natural number greater than or equal to 2;
选取其中最大转向的值作为第一标准值，计算所述第一标准值与其他n-1次转向角度的第一差值，所述平均值计算模块求取所述第一差值的平均值S1；Select the value of the largest steering as the first standard value, calculate the first difference between the first standard value and other n-1 steering angles, and the average value calculation module calculates the average value of the first difference. S1;
所述第一计时模块，测量并记录在第一方向上每次转向到最大值的第一时间T1；计算所述第一时间T1的平均时间T1av,所述第一标准值除以所述平均时间T1av，得到第一基准速度V1；The first timing module measures and records the first time T1 of each turn to the maximum value in the first direction; calculates the average time T1av of the first time T1, and divides the first standard value by the average At time T1av, the first reference speed V1 is obtained;
所述位置计算模块控制农用转载车向第一方向转向小于最大值的任意一角度，重复m次，测量并记录每次转向的具体转向角度，m为大于或等于2的自然数；The position calculation module controls the agricultural reloading vehicle to turn to any angle smaller than the maximum value in the first direction, repeats m times, measures and records the specific steering angle of each turn, and m is a natural number greater than or equal to 2;
计算m次具体转向角度的平均值，选取作为第二标准值，计算所述第二标准值与其他m-1次转向角度的第二差值，所述平均值计算模块以第二差值的绝对值计算第二差值的平均值S2；Calculate the average value of m specific steering angles, select it as the second standard value, and calculate the second difference between the second standard value and other m-1 steering angles. The absolute value calculates the average value S2 of the second difference;
所述第二计时模块，测量并记录在第一方向上每次转向到所述任意一角度的第二时间T2；计算所述第二时间T2的平均时间T2av,所述第二标准值除以所述平均时间T2av，得到二基准速度V2；所述死区计算模块计算第一死区宽度L1,
所述控制器能够在第二方向进行如第一方向上同样的死区校正控制。The controller can perform the same dead-band correction control in the second direction as in the first direction.
本申请能够综合多个农用装载车的参数，进行死区检测，方便准确进行死区补偿，同时，能够针对不同转向上进行综合分析，防止不同方向上死区不对等，综合考虑两个方向上的死区相同和不同值，进行两个方向的校正，有效准确的控制两个方向上死区。提升农用装载车准确转向。The present application can integrate the parameters of a plurality of agricultural loading vehicles to perform dead zone detection, which is convenient and accurate to perform dead zone compensation. The same and different values of the dead zone can be corrected in two directions to effectively and accurately control the dead zone in both directions. Elevate agricultural loading truck for accurate steering.
附图说明Description of drawings
图1为本发明农用装载车转向校正方法示意图。FIG. 1 is a schematic diagram of a steering correction method for an agricultural loading vehicle according to the present invention.
图2为本发明农用装载车转向校正系统示意图。FIG. 2 is a schematic diagram of the steering correction system of the agricultural loading vehicle of the present invention.
具体实施方式Detailed ways
下面结合附图对本申请作进一步详细描述，有必要在此指出的是，以下具体实施方式只用于对本申请进行进一步的说明，不能理解为对本申请保护范围的限制，该领域的技术人员可以根据上述申请内容对本申请作出一些非本质的改进和调整。The application will be described in further detail below in conjunction with the accompanying drawings. It is necessary to point out that the following specific embodiments are only used to further illustrate the application, and should not be construed as limiting the protection scope of the application. Those skilled in the art can The above application content makes some non-essential improvements and adjustments to this application.
如图1所示，为本发明农用装载车转向校正方法示意图，包括如下步骤：As shown in Figure 1, it is a schematic diagram of a steering correction method for an agricultural loading vehicle of the present invention, comprising the following steps:
1）接收输入信号；1) Receive the input signal;
2）根据接收到的输入信号，滤除明显偏差过大的瞬时值；2) According to the received input signal, filter out the instantaneous value with obvious deviation;
3）滤除明显偏差过大的瞬时值后，计算死区宽度；3) After filtering out the instantaneous value with obvious deviation, calculate the dead zone width;
4）根据确定的死区宽度进行转向死区补偿，以对所述农用装载车转向进行校正。4) Perform steering dead zone compensation according to the determined dead zone width to correct the steering of the agricultural loading vehicle.
所述的农用装载车转向校正方法，所述步骤3）中具体包括：In the method for correcting the steering of an agricultural loading vehicle, the step 3) specifically includes:
S11）控制农用装载车向第一方向转向最大值，重复n次，测量并记录每次转向的具体转向角度，n为大于或等于2的自然数；S11) Control the agricultural loading vehicle to turn to the maximum value in the first direction, repeat n times, measure and record the specific steering angle of each turn, n is a natural number greater than or equal to 2;
选取其中最大转向的值作为第一标准值，计算所述第一标准值与其他n-1次转向角度的第一差值，求取所述第一差值的平均值S1；Selecting the maximum steering value as the first standard value, calculating the first difference between the first standard value and other n-1 steering angles, and obtaining the average value S1 of the first difference;
S12）通过第一计时模块，测量并记录在第一方向上每次转向到最大值的第一时间T1；计算所述第一时间T1的平均时间T1av,所述第一标准值除以所述平均时间T1av，得到第一基准速度V1；S12) Through the first timing module, measure and record the first time T1 of each turn to the maximum value in the first direction; calculate the average time T1av of the first time T1, and divide the first standard value by the Average time T1av to obtain the first reference speed V1;
S13）控制农用转载车向第一方向转向小于最大值的任意一角度，重复m次，测量并记录每次转向的具体转向角度，m为大于或等于2的自然数；S13) Control the agricultural reloading vehicle to turn to any angle less than the maximum value in the first direction, repeat m times, measure and record the specific steering angle of each turn, m is a natural number greater than or equal to 2;
计算m次具体转向角度的平均值，选取作为第二标准值，计算所述第二标准值与其他m-1次转向角度的第二差值，以第二差值的绝对值计算第二差值的平均值S2；Calculate the average value of m specific steering angles, select it as the second standard value, calculate the second difference between the second standard value and other m-1 steering angles, and calculate the second difference with the absolute value of the second difference. the mean of the values S2;
S14) 通过第二计时模块，测量并记录在第一方向上每次转向到所述任意一角度的第二时间T2；计算所述第二时间T2的平均时间T2av,所述第二标准值除以所述平均时间T2av，得到二基准速度V2；S14) Through the second timing module, measure and record the second time T2 of each turn to the arbitrary angle in the first direction; calculate the average time T2av of the second time T2, divide the second standard value by With the average time T2av, two reference speeds V2 are obtained;
S15）计算第一死区宽度L1,
所述的农用装载车转向校正方法，所述步骤3）中具体包括：S21）控制农用装载车向第二方向转向最大值，重复n次，测量并记录每次转向的具体转向角度，n为大于或等于2的自然数；In the method for correcting the steering of an agricultural loading vehicle, the step 3) specifically includes: S21) Controlling the agricultural loading vehicle to turn to the maximum value in the second direction, repeating n times, measuring and recording the specific steering angle of each steering, where n is a natural number greater than or equal to 2;
选取其中最大转向的值作为第三标准值，计算所述第三标准值与其他n-1次转向角度的第三差值，求取所述第三差值的平均值S3；Selecting the value of the largest steering as the third standard value, calculating the third difference between the third standard value and other n-1 steering angles, and obtaining the average value S3 of the third difference;
S22）通过第三计时模块，测量并记录在第二方向上每次转向到最大值的第三时间T3；计算所述第三时间T3的平均时间T3av,所述第三标准值除以所述平均时间T3av，得到第三基准速度V1；S22) Through the third timing module, measure and record the third time T3 of each turn to the maximum value in the second direction; calculate the average time T3av of the third time T3, and divide the third standard value by the Average time T3av to obtain the third reference speed V1;
S23）控制农用转载车向第二方向转向小于最大值的任意一角度，重复m次，测量并记录每次转向的具体转向角度，m为大于或等于2的自然数；S23) Control the agricultural reloading vehicle to turn to any angle less than the maximum value in the second direction, repeat m times, measure and record the specific steering angle of each turn, m is a natural number greater than or equal to 2;
计算m次具体转向角度的平均值，选取作为第四标准值，计算所述第四标准值与其他m-1次转向角度的第四差值，以第四差值的绝对值计算第四差值的平均值S4；Calculate the average value of m specific steering angles, select it as the fourth standard value, calculate the fourth difference between the fourth standard value and other m-1 steering angles, and calculate the fourth difference with the absolute value of the fourth difference. the mean of the values S4;
S24) 通过第四计时模块，测量并记录在第二方向上每次转向到所述任意一角度的第四时间T4；计算所述第四时间T4的平均时间T4av,所述第四标准值除以所述平均时间T4av，得到四基准速度V4；S24) Through the fourth timing module, measure and record the fourth time T4 of each turn to the arbitrary angle in the second direction; calculate the average time T4av of the fourth time T4, divide the fourth standard value With the average time T4av, four reference speeds V4 are obtained;
S25）计算第二死区宽度L2,
所述的农用装载车转向校正方法，计算所述第一死区宽度L1和第二死区宽度L2的差值，当所述差值大于零时，判断所述差值是否大于第一预设差值阈值，如果大于所述第一预设差值阈值，将所述差值除以2得到第一死区偏差值，计算死区值，即将所述第一死区宽度L1减去所述第一死区偏差值，所述第二死区宽度L2加上所述第一死区偏差值，存储上述死区值；当所述差值等于零时，存储所述第一死区宽度L1和所述第二死区宽度L2的相同值；当所述差值小于零时，判断所述差值是否小于第二预设差值阈值，如果小于所述第二预设差值阈值，将所述差值除以2得到第二死区偏差值，计算死区值，即将所述第一死区宽度L1减去所述第二死区偏差值，所述第二死区宽度L2加上所述第二死区偏差值，存储上述死区值。The steering correction method for an agricultural loading vehicle is to calculate the difference between the first dead zone width L1 and the second dead zone width L2, and when the difference is greater than zero, determine whether the difference is greater than a first preset Difference threshold, if it is greater than the first preset difference threshold, divide the difference by 2 to obtain the first dead zone deviation value, calculate the dead zone value, that is, subtract the first dead zone width L1 from the The first dead zone deviation value, the second dead zone width L2 plus the first dead zone deviation value, store the above dead zone value; when the difference is equal to zero, store the first dead zone width L1 and The same value of the second dead zone width L2; when the difference is less than zero, it is determined whether the difference is less than the second preset difference threshold, if it is less than the second preset difference threshold, the The difference is divided by 2 to obtain the second dead zone deviation value, and the dead zone value is calculated, that is, the first dead zone width L1 is subtracted from the second dead zone deviation value, and the second dead zone width L2 is added to the The second dead zone deviation value is stored, and the above dead zone value is stored.
所述的农用装载车转向校正方法，将上述存储的死区值发送到控制器，所述控制器根据接收到的死区值进行转向死区补偿，并计算死区补偿时间。In the steering correction method for an agricultural loading vehicle, the stored dead zone value is sent to the controller, and the controller performs steering dead zone compensation according to the received dead zone value, and calculates the dead zone compensation time.
所述的农用装载车转向校正方法，所述控制器通过最优控制算法控制死区补偿，在固有最优PD控制器确定参数调整的基础上，引入整数阶PD和分数阶PD两种控制结构，其控制模型为：In the steering correction method of the agricultural loading vehicle, the controller controls the dead zone compensation through an optimal control algorithm, and on the basis of the parameter adjustment determined by the inherent optimal PD controller, two control structures of integer-order PD and fractional-order PD are introduced. , and its control model is:
其中，y为横向偏差，u为控制输入，即存储的死区值，Gc(s)为控制函数，
所述的农用装载车转向校正方法，所述接收输入信号具体包括：接收用户进行转向校正命令，通过触摸显示屏接收用户的触摸信号或者通过远程用户终端接收所述转向校正命令。In the steering correction method for an agricultural loading vehicle, the receiving an input signal specifically includes: receiving a steering correction command from a user, receiving a user's touch signal through a touch screen or receiving the steering correction command through a remote user terminal.
所述的农用装载车转向校正方法，所述根据接收到的输入信号，滤除明显偏差过大的瞬时值具体包括：接收输入信号，进行多次转向控制，判断针对同一位置的转向是否存在明显超出正常值的转向，如果存在，则滤除该次转向数据，补充一次转向。In the steering correction method for an agricultural loading vehicle, filtering out the instantaneous value with an excessively large deviation according to the received input signal specifically includes: receiving the input signal, performing multiple steering control, and judging whether there is obvious steering for the same position. If the steering exceeds the normal value, if it exists, filter out the steering data and add a steering.
如图2所示，为本发明农用装载车转向校正方法示意图，包括如上述任意一项所述的农用装载车转向校正方法，具体包括：控制器，角度传感器，计时模块，驱动器，反馈检测器；所述角度传感器和计时模块将检测的角度和计算的时间传输给控制器，所述控制器计算转向死区，生产死区补偿控制信号，并发送给驱动器，驱动所述农用装载车转向校正，所述反馈检测器检测死区补偿的转向校正，反馈给所述控制器。As shown in FIG. 2, it is a schematic diagram of the steering correction method for an agricultural loading vehicle according to the present invention, including the steering correction method for an agricultural loading vehicle according to any one of the above, specifically including: a controller, an angle sensor, a timing module, a driver, and a feedback detector ; The angle sensor and the timing module transmit the detected angle and the calculated time to the controller, the controller calculates the steering dead zone, produces the dead zone compensation control signal, and sends it to the driver to drive the agricultural loading vehicle for steering correction , the feedback detector detects the steering correction of the dead zone compensation, and feeds it back to the controller.
所述的农用装载车转向校正系统，所述控制器包括：位置计算模块、平均值计算模块、死区计算模块、输出控制模块；所述计时模块包括第一、第二、第三、第四计时模块；In the steering correction system for agricultural loading vehicles, the controller includes: a position calculation module, an average value calculation module, a dead zone calculation module, and an output control module; the timing module includes a first, a second, a third, and a fourth timing module;
所述位置计算模块控制农用装载车向第一方向转向最大值，重复n次，测量并记录每次转向的具体转向角度，n为大于或等于2的自然数；The position calculation module controls the agricultural loading vehicle to turn to the maximum value in the first direction, repeats n times, measures and records the specific steering angle of each turn, and n is a natural number greater than or equal to 2;
选取其中最大转向的值作为第一标准值，计算所述第一标准值与其他n-1次转向角度的第一差值，所述平均值计算模块求取所述第一差值的平均值S1；Select the value of the largest steering as the first standard value, calculate the first difference between the first standard value and other n-1 steering angles, and the average value calculation module calculates the average value of the first difference. S1;
所述第一计时模块，测量并记录在第一方向上每次转向到最大值的第一时间T1；计算所述第一时间T1的平均时间T1av,所述第一标准值除以所述平均时间T1av，得到第一基准速度V1；The first timing module measures and records the first time T1 of each turn to the maximum value in the first direction; calculates the average time T1av of the first time T1, and divides the first standard value by the average At time T1av, the first reference speed V1 is obtained;
所述位置计算模块控制农用转载车向第一方向转向小于最大值的任意一角度，重复m次，测量并记录每次转向的具体转向角度，m为大于或等于2的自然数；The position calculation module controls the agricultural reloading vehicle to turn to any angle smaller than the maximum value in the first direction, repeats m times, measures and records the specific steering angle of each turn, and m is a natural number greater than or equal to 2;
计算m次具体转向角度的平均值，选取作为第二标准值，计算所述第二标准值与其他m-1次转向角度的第二差值，所述平均值计算模块以第二差值的绝对值计算第二差值的平均值S2；Calculate the average value of m specific steering angles, select it as the second standard value, and calculate the second difference between the second standard value and other m-1 steering angles. The absolute value calculates the average value S2 of the second difference;
所述第二计时模块，测量并记录在第一方向上每次转向到所述任意一角度的第二时间T2；计算所述第二时间T2的平均时间T2av,所述第二标准值除以所述平均时间T2av，得到二基准速度V2；所述死区计算模块计算第一死区宽度L1,
所述控制器能够在第二方向进行如第一方向上同样的死区校正控制。所述位置计算模块控制农用装载车向第二方向转向最大值，重复n次，测量并记录每次转向的具体转向角度，n为大于或等于2的自然数；The controller can perform the same dead-band correction control in the second direction as in the first direction. The position calculation module controls the agricultural loading vehicle to turn to the maximum value in the second direction, repeats n times, measures and records the specific steering angle of each turn, and n is a natural number greater than or equal to 2;
选取其中最大转向的值作为第三标准值，计算所述第三标准值与其他n-1次转向角度的第三差值，所述平均值计算模块求取所述第三差值的平均值S3；Select the value of the maximum steering as the third standard value, calculate the third difference between the third standard value and other n-1 times of steering angles, and the average value calculation module calculates the average value of the third difference. S3;
所述第三计时模块，测量并记录在第二方向上每次转向到最大值的第三时间T3；计算所述第三时间T3的平均时间T3av,所述第三标准值除以所述平均时间T3av，得到第三基准速度V1；The third timing module measures and records the third time T3 of each turn to the maximum value in the second direction; calculates the average time T3av of the third time T3, and divides the third standard value by the average At time T3av, the third reference speed V1 is obtained;
所述位置计算模块控制农用转载车向第二方向转向小于最大值的任意一角度，重复m次，测量并记录每次转向的具体转向角度，m为大于或等于2的自然数；The position calculation module controls the agricultural transfer vehicle to turn to any angle smaller than the maximum value in the second direction, repeats m times, measures and records the specific steering angle of each turn, and m is a natural number greater than or equal to 2;
计算m次具体转向角度的平均值，选取作为第四标准值，计算所述第四标准值与其他m-1次转向角度的第四差值，所述平均值计算模块以第四差值的绝对值计算第四差值的平均值S4；Calculate the average value of m specific steering angles, select as the fourth standard value, calculate the fourth difference between the fourth standard value and other m-1 steering angles, and the average value calculation module uses the fourth difference value. The absolute value calculates the average value S4 of the fourth difference;
所述四计时模块，测量并记录在第二方向上每次转向到所述任意一角度的第四时间T4；计算所述第四时间T4的平均时间T4av,所述第四标准值除以所述平均时间T4av，得到四基准速度V4；The four timing modules measure and record the fourth time T4 of each turn to the arbitrary angle in the second direction; calculate the average time T4av of the fourth time T4, and divide the fourth standard value by all The average time T4av is described, and the four reference speeds V4 are obtained;
所述死区计算模块计算第二死区宽度L2,
所述输出控制模块计算所述第一死区宽度L1和第二死区宽度L2的差值，当所述差值大于零时，判断所述差值是否大于第一预设差值阈值，如果大于所述第一预设差值阈值，将所述差值除以2得到第一死区偏差值，计算死区值，即将所述第一死区宽度L1减去所述第一死区偏差值，所述第二死区宽度L2加上所述第一死区偏差值，存储上述死区值；当所述差值等于零时，存储所述第一死区宽度L1和所述第二死区宽度L2的相同值；当所述差值小于零时，判断所述差值是否小于第二预设差值阈值，如果小于所述第二预设差值阈值，将所述差值除以2得到第二死区偏差值，计算死区值，即将所述第一死区宽度L1减去所述第二死区偏差值，所述第二死区宽度L2加上所述第二死区偏差值，存储上述死区值，通过最优控制输出控制信号，基于上述存储的死区值控制转向校正。The output control module calculates the difference between the first dead zone width L1 and the second dead zone width L2, and when the difference is greater than zero, judges whether the difference is greater than a first preset difference threshold, if greater than the first preset difference threshold, divide the difference by 2 to obtain the first dead zone deviation value, and calculate the dead zone value, that is, the first dead zone width L1 minus the first dead zone deviation value, the second dead zone width L2 is added to the first dead zone deviation value, and the above dead zone value is stored; when the difference is equal to zero, the first dead zone width L1 and the second dead zone width L1 and the second dead zone are stored. the same value of the zone width L2; when the difference is less than zero, determine whether the difference is less than the second preset difference threshold, and if it is less than the second preset difference threshold, divide the difference by 2. Obtain the second dead zone deviation value, and calculate the dead zone value, that is, the first dead zone width L1 minus the second dead zone deviation value, the second dead zone width L2 plus the second dead zone For the deviation value, the above-mentioned dead zone value is stored, and the control signal is output through the optimal control, and the steering correction is controlled based on the above-mentioned stored dead zone value.
本申请能够综合多个农用装载车的参数，进行死区检测，方便准确进行死区补偿，同时，能够针对不同转向上进行综合分析，防止不同方向上死区不对等，综合考虑两个方向上的死区相同和不同值，进行两个方向的校正，有效准确的控制两个方向上死区。提升农用装载车准确转向。本发明能够减小农用车的死区宽度，提升用户对农用车的操作便捷性，提高农用车的安全性能。本系统能够是外设于农用车的独立系统或者是集成安装在农用车的校正系统，用户可以将独立系统用于校正不同的农用车，达到校正多个农用车的目的，节约使用成本。能够通过远程控制终端控制该系统，操作简便。The present application can integrate the parameters of a plurality of agricultural loading vehicles to perform dead zone detection, which is convenient and accurate to perform dead zone compensation. The same and different values of the dead zone can be corrected in two directions to effectively and accurately control the dead zone in both directions. Elevate agricultural loading truck for accurate steering. The invention can reduce the width of the dead zone of the agricultural vehicle, improve the user's operation convenience for the agricultural vehicle, and improve the safety performance of the agricultural vehicle. This system can be an independent system peripheral to agricultural vehicles or an integrated calibration system installed in agricultural vehicles. Users can use the independent system to calibrate different agricultural vehicles to achieve the purpose of calibrating multiple agricultural vehicles and save usage costs. The system can be controlled through a remote control terminal, which is easy to operate.
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