CN113966667B - Harvester header self-adaptive control system based on ground profiling and harvester - Google Patents
Harvester header self-adaptive control system based on ground profiling and harvester Download PDFInfo
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- CN113966667B CN113966667B CN202111593221.0A CN202111593221A CN113966667B CN 113966667 B CN113966667 B CN 113966667B CN 202111593221 A CN202111593221 A CN 202111593221A CN 113966667 B CN113966667 B CN 113966667B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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Abstract
The invention relates to the field of agricultural machinery, and discloses a harvester header self-adaptive control system based on ground profiling and a harvester, wherein the system comprises profiling mechanisms which are respectively arranged on two sides of the bottom of the harvester header, and profiling sensors are fixed on the profiling mechanisms; the device also comprises a header rotation sensor, a vehicle speed sensor, a controller, a header height adjusting mechanism and a header inclination angle adjusting mechanism; the controller converts the profiling angle information acquired by the profiling sensor into a profiling height, and controls the header height adjusting mechanism and/or the header inclination angle adjusting mechanism to act according to the profiling height, the header angle and the vehicle speed. The invention can realize the self-adaptive adjustment of the height of the header and the angle of the header, can achieve the optimal harvesting effect under various ground conditions, and has simple design structure, low cost, practicability and reliability.
Description
Technical Field
The invention relates to the field of agricultural machinery, in particular to a harvester header self-adaptive control system based on ground profiling and a harvester.
Background
With the development of intellectualization and informatization of the current combine harvester, the novel intelligent combine harvester is mature in the technical aspects of monitoring based on various loads, self-adaptive adjustment of operation conditions and the like, and the remarkable improvement of the operation speed of the combine harvester is promoted. The header is an important component of the harvester, and the fluctuation of the header directly influences the field operation effect of the harvester. On one hand, due to the complex and irregular growth condition of crops, the optimal harvesting effect is achieved by adjusting the height of the header of the harvester mainly through manual work in real time in the existing harvesting mode. When the height of the traditional manual operation control header is high, the situation that the header scratches the ground and damages the header is caused by that the short crops are missed due to too high stubble or the problems of concave-convex change and the like of the ground are not avoided in time, and in the process of high-speed operation, the header is manually operated by a driver to easily cause driving fatigue, so that the quality and the efficiency of harvesting are reduced. On the other hand, one third of the farmland area in China is hilly slope land, and when the harvesting operation is carried out on the hilly ground, the angle cannot be adjusted in a rotating mode, so that the cutting table cannot be effectively attached to the ground, and a large amount of harvesting loss is caused.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art, and provides a header ground profiling system for adaptively controlling the height and the rotation angle of a header according to the ground fluctuation, so that the working strength of a driver is reduced, and the harvesting quality and efficiency are improved.
In order to solve the technical problems, the embodiment of the invention provides a harvester header self-adaptive control system based on ground profiling, wherein a header mechanism comprises a header, a rotary connector, a gap bridge and a main frame; the adaptive control system for the harvester header comprises profiling mechanisms which are respectively arranged on two sides of the bottom of the harvester header, each profiling mechanism is respectively connected with a profiling sensor through a transmission piece, and the profiling sensors are used for detecting the profiling angles of the profiling mechanisms changing along with the terrain; the device also comprises a header rotation sensor for monitoring the angle of the header, a vehicle speed sensor for monitoring the speed of a vehicle, a controller, a header height adjusting mechanism for adjusting the height of the header and a header inclination angle adjusting mechanism for adjusting the inclination angle of the header; the controller converts the profiling angle information into a profiling height, and controls the header height adjusting mechanism and/or the header inclination angle adjusting mechanism to act according to the profiling height, the header angle and the vehicle speed.
The invention has the beneficial effects that: the invention not only can realize the self-adaptive adjustment of the height of the cutting table, but also can realize the self-adaptive adjustment of the angle of the cutting table, thereby ensuring that the cutting table can be effectively clung to the ground in the operation process of the cutting table in hilly and mountainous areas, achieving the optimal harvesting effect under various ground conditions, reducing the working strength of a driver under high-speed harvesting, and effectively improving the quality and the efficiency of harvesting operation; and the harvester header self-adaptive control system based on ground profiling has the advantages of simple design structure, low cost, practicability and reliability.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, the controller is specifically configured to enter a height control mode when a profile height difference between the profile height and a preset profile height is greater than a first preset value; in the height control mode, the controller determines a height difference interval to which a profile modeling height difference detected in a program period belongs, and arranges and combines the height difference interval and a plurality of vehicle speed intervals which are divided in advance to generate three corresponding parameters of proportion P, integral I and differential D; and performing header height integral separation type PID control operation by using PID parameter values obtained by permutation and combination, and outputting a corresponding PWM value to control the header height adjusting mechanism to act so as to realize the adjustment of the header height.
The beneficial effect of adopting the further scheme is that: the profiling angle and related rotating speed data are collected through the controller, the actual data are subjected to interval division through a control algorithm, the optimal PID parameter is found out, the self-adaptive control of the header height is realized, the problems that the existing header control system cannot realize high-speed harvesting and cannot self-adapt to ground fluctuation and the like are effectively solved, and the accuracy of header control is improved.
Further, the technical scheme also comprises a vehicle body inclination angle sensor, wherein the vehicle body inclination angle sensor sends the acquired vehicle body inclination angle to the controller; the controller is used for entering an inclination angle intervention control mode when the change rate of the inclination angle of the vehicle body is greater than a second preset value;
under an inclination angle intervention control mode, the controller determines a vehicle body inclination angle change rate interval detected in a program period, the inclination angle change rate interval and a plurality of vehicle body inclination angle intervals which are divided in advance are arranged and combined, three parameters of proportion P, integral I and differential D are adjusted, header height integral separation type PID control operation is carried out by utilizing adjusted PID parameter values, a corresponding PWM value is output to control the header height adjusting mechanism to act, and quick response adjustment of the header height is achieved.
The beneficial effect of adopting the further scheme is that: the controller corrects and adjusts the proportional valve adjusting parameter P, I, D according to the variation amplitude of the vehicle body posture, and when the vehicle body posture is changed slightly, the adjusting parameter is kept stable; when the posture of the vehicle body is changed greatly suddenly, the parameters are adjusted to change correspondingly, so that the self-adaptive control of the header is more accurate.
Further, the controller is specifically configured to enter an angle control mode when a header angle difference between the header angle and a preset header angle is greater than a third preset value; in an angle control mode, the controller determines a height difference interval to which a profile modeling height difference detected in a program period belongs and an angle difference interval to which a header angle difference belongs, and arranges and combines the height difference interval, the angle difference interval and a plurality of vehicle speed intervals divided in advance to generate three corresponding parameters of proportion P, integral I and differential D; and performing header angle integral separation type PID control operation by using PID parameter values obtained by permutation and combination, and outputting a corresponding PWM value to control the header inclination angle adjusting mechanism to act so as to realize the adjustment of the header inclination angle.
The beneficial effect of adopting the further scheme is that: the profiling angle, the header angle and related rotating speed data are collected through the controller, the actual data are subjected to interval division through a control algorithm, PID parameters corresponding to different permutation and combination are set, the header can be guaranteed to carry out PID operation on optimal parameters in various operation states to the maximum extent, the best header attitude adjustment effect is achieved, self-adaptive control of the header angle is achieved, the problems that an existing header control system lacks a header rotation profiling function, high-speed harvesting cannot be achieved, self-adaptive ground fluctuation cannot be achieved are effectively solved, and the header control precision is improved.
Further, header inclination adjustment mechanism includes: the rotary connection structure comprises a first proportional solenoid valve, a header rotary hydraulic cylinder, a hydraulic cylinder rod, a header rotary hydraulic cylinder and a header rotary sensor, wherein the first proportional solenoid valve is connected in sequence, the header rotary hydraulic cylinder is additionally arranged on the rotary connection body and used for driving the rotary connection body to rotate relative to a gap bridge, a base of the header rotary hydraulic cylinder is fixed on the gap bridge, the hydraulic cylinder rod is fixed on the rotary connection body, the header rotary hydraulic cylinder pushes the header to rotate clockwise to preset an angle when extending out, the header rotary hydraulic cylinder contracts to enable the header to rotate anticlockwise to preset an angle, and the header rotary hydraulic cylinder is fixed with the header rotary sensor.
The beneficial effect of adopting the further scheme is that: the header not only can carry out up-and-down motion through header hydraulic cylinder, can also rotate the operation through header rotary hydraulic cylinder, realizes the suitability of different topography environment.
Further, header height adjustment mechanism includes: the second proportional solenoid valve that connects gradually and install two header hydraulic cylinder on the harvester gap bridge additional, header hydraulic cylinder base is connected on the main frame, and the hydraulic cylinder head is connected in the gap bridge bottom.
The beneficial effect of adopting the further scheme is that: the two header lifting hydraulic cylinders move as synchronous control, the header rises when extending out, the header descends when retracting, and the second proportional valve can control the extending and retracting speed of the header hydraulic cylinders under different currents, so that the response of header movement is ensured.
Further, the controller converts the PWM into PWMi and outputs the PWMi to the first proportional solenoid valve or the second proportional solenoid valve; and the internal slide valve of the first proportional solenoid valve or the second proportional solenoid valve performs corresponding opening action to drive a corresponding hydraulic cylinder to correspondingly adjust the working state of the header.
The beneficial effect of adopting the further scheme is that: the valve core of the electromagnetic proportional valve is controlled by the PWMi to realize the control of hydraulic flow, and corresponding hydraulic execution devices are sequentially driven to complete the adjustment of the actions of the related header.
Furthermore, the technical scheme also comprises a header height sensor and an information feedback and display module, wherein the header height sensor is fixed at the hinged position of the gap bridge and the main frame, one side of the header height sensor is connected with the gap bridge, the other side of the header height sensor is connected with the main frame, and the header height sensor transmits the collected header height information to the information feedback and display module through a CAN bus; the vehicle body inclination angle sensor is fixed below the driving platform and close to the position of the cutting platform and used for monitoring the posture of the vehicle body, and transmits collected vehicle body posture information to the information feedback and display module through the CAN bus.
The beneficial effect of adopting the further scheme is that: can acquire automobile body gesture information through automobile body inclination sensor, CAN acquire the header for the height of tire and ground contact point through header height sensor, inclination information and height information conversion are CAN bus information, CAN in time communicate with the bus instrument, have guaranteed the accurate feedback of header and automobile body state.
Further, the information feedback and display module comprises a control panel and a display screen.
The beneficial effect of adopting the further scheme is that: whether control panel can trigger the profile modeling process and open, the target height sets up through the display screen, and the display screen can show header and automobile body gesture in real time simultaneously, in time exports diagnostic information for the driver when the system breaks down.
Furthermore, each profiling mechanism comprises a rotating shaft and at least one profiling plate, the rotating shaft is horizontally and rotatably installed on one side of the front end of the header, one end of the rotating shaft is fixedly connected with one end of the corresponding transmission piece, the transmission piece can vertically swing along with the rotation of the rotating shaft, and the swinging angle of the transmission piece is detected corresponding to the profiling sensor; one end of each of the profile plates is fixedly connected with the rotating shaft, and the other end of each of the profile plates extends downwards in an inclined mode.
The beneficial effect of adopting the further scheme is that: the other end of two copying plates of the in-process that the harvester went in the field is hugged closely with ground all the time, and two profile modeling sensors are used for detecting two driving medium wobbling angles respectively and are two copying plates angle along with the topography change promptly to signal transmission for the controller that will correspond, the controller receives corresponding signal, and control elevating system drive header lift to the height of setting for effectively hug closely ground to the header, improve the effect of header results, avoid the loss of grain.
Furthermore, the other end of each of the profile plates is of an arc-shaped structure.
The beneficial effect of adopting the further scheme is that: simple structure, reasonable in design, what can be better hugs closely with ground, improves the accuracy of ground profile modeling for the header can be hugged closely with ground all the time, improves the effect of results.
Further, the other end of each former plate all is connected with the header through deformable connecting piece.
The beneficial effect of adopting the further scheme is that: the connecting piece can limit the profile plate, and limit the profile range of the profile plate in a proper range, so that the practicability is higher.
Further, the connecting piece is a hanging chain.
The beneficial effect of adopting the further scheme is that: the head of the profile plate has a bent shape, and the profile plate is combined with the hanging chain, so that the profile structure can be prevented from being damaged when the car is backed up, the structure is simple, the selection is reasonable, the connection between the profile plate and the header can be realized, and the profile operation of the profile plate is not influenced.
Furthermore, each profiling mechanism all includes two the profiling plate, the one end of two the profiling plate respectively with correspond the both ends fixed connection of rotation axis.
The beneficial effect of adopting the further scheme is that: this profile modeling structure divide into two profile modeling boards, and the change of linkage mode response topography simultaneously causes the misleading to the system when preventing that one of them from getting into little hole ground or protruding, simple structure, and reasonable in design sets up the error that two profile modeling boards can effectively reduce a profile modeling board and bring, improves the accuracy of profile modeling, guarantees that the header can press close to ground all the time, avoids the grain loss, improves the effect of results.
Further, coaxial sliding sleeve is equipped with down pressure spring, every respectively at the both ends of rotation axis down pressure spring's both ends respectively with correspond the one end of profiling board reaches the header butt.
The beneficial effect of adopting the further scheme is that: interference generated by vibration of the harvester can be inhibited through the pressing spring, the header is guaranteed to work stably, and the harvesting effect of the header is improved.
In order to solve the technical problem, an embodiment of the invention further provides a harvester, which comprises the harvester header adaptive control system based on ground profiling.
Additional aspects of the invention and its advantages will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a structural diagram of a system for adaptive control of a harvester header based on ground profiling according to an embodiment of the present invention;
FIG. 2 is a schematic structural diagram of a ground profiling-based harvester according to an embodiment of the invention;
fig. 3 is a schematic perspective view of a profiling header provided in an embodiment of the invention;
fig. 4 is a side view of a profiling header provided by an embodiment of the present invention;
fig. 5 is a top view of a profiling header provided by an embodiment of the present invention;
FIG. 6 is a schematic structural view of a profiling mechanism provided by an embodiment of the present invention;
FIG. 7 is a schematic structural diagram of a connection board according to an embodiment of the present invention;
fig. 8 is a second schematic structural diagram of a connection board according to an embodiment of the present invention;
fig. 9 is a control logic diagram of a ground profiling-based harvester header adaptive control system provided by an embodiment of the invention.
Detailed Description
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
The embodiment of the invention provides a harvester header self-adaptive control system based on ground profiling, belonging to an electric-liquid hybrid control system. As shown in fig. 1, the system mainly comprises a signal acquisition module, a central processing module (control right), an execution module, and an information feedback and display module.
All electrical components are powered by 24V direct current, relevant sensors of the system monitor relevant parameters of working components in real time, and monitoring information is transmitted to the controller through a CAN bus. The controller is powered by 24V voltage, receives the data of each sensor, analyzes and calculates the data, and then sends corresponding instructions to control the header height adjusting mechanism and the header rotation adjusting mechanism in the execution module to act. The controller sends the alarm prompt and the related parameter information to the information feedback and display module through the CAN bus.
As shown in fig. 2, the header mechanism includes a header 5, a rotary connector 13, a gap bridge 14, a header lifting hydraulic cylinder 8, a main frame 15, and a header rotary hydraulic cylinder 12, wherein the rotary connector 13 is hinged to the gap bridge 14, the rotary connector 13 can rotate relative to the gap bridge 14 under the action of the header rotary hydraulic cylinder 12, the header 5 and the rotary connector 13 are connected together by being hung through an interface, and the movement of the rotary connector 13 drives the movement of the header 5.
The signal acquisition module: as shown in fig. 3 to 6, profiling mechanisms are respectively arranged on two sides of the bottom end of the header 5, and each profiling mechanism is respectively connected with one profiling sensor 2 through a transmission member 3. The profiling sensor adopts an angle sensor.
The profiling sensor 2 is used for detecting the profiling angle of the profiling mechanism changing along with the terrain; the profiling structure is tightly attached to the ground, and the rotating distance generated by the contact of the profiling mechanism and the ground drives the corresponding profiling sensor to output a corresponding voltage signal which is transmitted to the controller through the CAN bus. And the controller performs data operation on the angle-voltage signal calibrated in the early stage and the correlation characteristic curve of the actual header height to obtain the corresponding profiling height.
The vehicle speed sensor is arranged on the gearbox and used for monitoring the rotating speeds of a vehicle engine, a traveling device and other places, and sending real-time rotating speed signals to the controller after signal processing and calculation.
As shown in fig. 3 to 8, profiling mechanisms are respectively arranged at the front end of the header, each profiling mechanism is respectively connected with one profiling sensor 2 through a transmission member 3, and in this embodiment, the transmission members 3 can be selected from spherical hinges. The profiling sensor 2 is used for detecting the profiling angle of the profiling mechanism changing along with the terrain; the profiling structure is tightly attached to the ground, and the rotating distance generated by the contact of the profiling mechanism and the ground drives the corresponding profiling sensor to output a corresponding voltage signal which is transmitted to the controller through the CAN bus.
The header 5 comprises a header body and a mounting seat, and the rear end of the mounting seat is rotatably connected with the gap bridge through a rotating shaft; the stage body rotates through the front end of connecting plate 9 and mount pad to be connected, specifically is: the lower side of the connecting plate 9 is rotatably connected with the front end of the mounting seat through a rotating shaft, two inserting plates are fixedly mounted on the upper side of the connecting plate, two inserting grooves are formed in the front end of the mounting seat, one ends of the two inserting plates are respectively inserted into the two inserting grooves, and the two inserting plates can respectively swing left and right in the two inserting grooves by a certain angle. It should be noted that the rotating shaft at the lower end of the connecting plate 9 can swing left and right within a certain angle range.
Optionally, each profiling mechanism comprises a rotating shaft 1 and at least one profiling plate 4, the rotating shaft 1 is horizontally and rotatably mounted on one side of the front end of the header 5, one end of the rotating shaft 1 is fixedly connected with one end of the corresponding transmission member 3, the transmission member 3 can swing up and down along with the rotation of the rotating shaft 1, and the corresponding profiling sensor 2 detects the swing angle of the transmission member 3; one end of each profile plate 4 is fixedly connected with the rotating shaft 1, and the other end extends downwards in an inclined mode.
During the results, the other end of two copying plates 4 of the in-process that the harvester went in the field is hugged closely with ground all the time, two profile modeling sensors 2 are used for detecting two driving medium 3 wobbling angles respectively and are two copying plates 4 along with the angle of topography change promptly to signal transmission for the controller that will correspond, the signal that the controller received corresponds, and control elevating system drive header 5 goes up and down to the height of settlement and effectively hug closely ground to header 5, improve the effect of 5 harvests of header, avoid the loss of grain.
The specific installation mode of each rotating shaft 1 and the header 5 is as follows: a supporting seat 10 is relatively and fixedly installed on one side of the front end of the header 5 along the direction from one side to the other side of the header, one end of the rotating shaft 1 is rotatably connected with the supporting seat 10, extends to one side of the supporting seat 10 and then is in transmission connection with the profile modeling sensor 2 through a transmission piece 3, and the other end of the rotating shaft is rotatably connected with the other supporting seat 10.
In addition, each support seat 10 is formed by splicing two seat bodies, wherein one seat body is fixedly arranged on the header 5, and the other seat body is fixedly and detachably arranged on one seat body through bolts; the opposite sides of two seatbodies are equipped with the mounting groove relatively, and the one end of rotation axis 1 extends to in two mounting grooves to rotate with two mounting grooves and be connected. This scheme reasonable in design makes things convenient for the dismouting, labour saving and time saving. In addition to the above embodiments, the two seat bodies may be integrally formed.
Optionally, the other end of each profile plate 4 is in an arc-like configuration. This scheme simple structure, reasonable in design, what can be better hugs closely with ground, improves the accuracy of ground profile modeling for header 5 can hug closely with ground all the time, improves the effect of results. In addition to the above described embodiments, the profile plate 4 may also be of a straight rod-like structure.
Optionally, the other end of each profile plate 4 is connected to the header 5 by a deformable connection. This scheme both can carry on spacingly to profile plate 4 through the connecting piece, can inject the profile range of profile plate 4 again in suitable within range, and the practicality is stronger.
Optionally, the link is a catenary 11. This scheme simple structure selects rationally, both can realize being connected of profiling plate 4 and header 5, does not influence the profile modeling operation of profiling plate 4 again. In addition to the above embodiments, the connecting member may be a connecting rope, but the connecting rope has a shorter service life than the hanging chain 11, and needs to be replaced frequently, which is high in cost.
Optionally, each profiling mechanism comprises two profiling plates 4, and one end of each profiling plate 4 is fixedly connected with two ends of the corresponding rotating shaft 1. This scheme simple structure, reasonable in design sets up two copying plates 4 and can effectively reduce the error that a copying plate 4 brought, improves the accuracy of profile modeling, guarantees that header 5 can press close to ground all the time, avoids the grain loss, improves the effect of results.
When one of the profiling plates 4 is sunken in the ground with abnormal depth such as pits and ditches and the other profiling plate 4 is normally attached to the ground, the profiling sensor 2 can feed back correct height information of the header 5 to the controller. The stability of 5 operations of header when having improved greatly in the design of two profile plates 4 avoids because single profile plate 4 receives the header 5 shake that the unusual undulation situation in ground leads to.
Optionally, two ends of the rotating shaft 1 are respectively coaxially and slidably sleeved with downward pressing springs 7, and two ends of each downward pressing spring 7 are respectively abutted to one end of the corresponding profile plate 4 and the header 5. During the use, push down spring 7 and applied a great holding down force for the profile plate, can effectively restrain the profile plate and contact the interference variation that non-topographic factors such as clod, grass heap arouse, guarantee that header 5 is steady to be worked, improves the effect of 5 harvests of header. When the cutting table 5 of the harvester is put down and starts to work, the downward pressing spring 7 always generates downward pressure on the profile plate, and the profile plate 4 can be guaranteed to be attached to the ground all the time.
When the harvester encounters a raised ground in the operation process, the profiling plate 4 is extruded and blocked by the ground to drive the rotating shaft 1 to rotate, and the rotating angle is collected by the profiling sensor 2 and then converted into an electric signal to be input into the controller; when the harvester operation in-process meets sunken ground, profiling plate 4 receives the overdraft of pushing down spring 7, continuously laminates ground, and rotation axis 1 rotates along with profiling plate 4, turns into the signal of telecommunication input controller after the turned angle is gathered by profiling sensor 2. The controller collects the numerical value transmitted by the profiling sensor 2 and then calculates the height information of the cutting table 5 from the ground in real time, and then the control circuit controls the action of the height hydraulic cylinder of the cutting table to properly lift or lower the height of the cutting table 5 in real time, thereby ensuring the consistent stubble cutting height to achieve the optimal harvesting effect.
A central processing module: the hardware part of the central processing module mainly comprises a matched vehicle-mounted controller. And the voltage signal receiving and calculating module is used for receiving and calculating the voltage signal transmitted by the signal acquisition module. The system control strategy consists of two sets of independent PID control algorithms, and the PID control algorithms adopt a variable and integral separation PID control strategy.
The header lifting control PID generates corresponding PID parameters for data operation by comparing and calculating feedback signals sent by the left and right profile sensors and the vehicle speed sensor, and finally outputs corresponding PWM signals. The internal circuit converts the PWM signal into PWMi and outputs the PWMi to a relevant mechanism.
The header rotation control PID receives the signals and introduces header angle signals into calculation. And generating corresponding PID parameters to perform header rotation PID control operation through comprehensive calculation of the profiling height, the header angle and the current vehicle speed. And finally, outputting the corresponding PWMi signal to a relevant actuating mechanism.
The controller converts the profiling angle information collected by the profiling sensor into a profiling height, and controls the header height adjusting mechanism and/or the header inclination angle adjusting mechanism to act according to the profiling height, the header angle collected by the header rotation sensor and the vehicle speed collected by the vehicle speed sensor.
Specifically, when the profile height difference between the profile height and a preset profile height is greater than a first preset value, entering a height control mode; in the height control mode, the controller determines a height difference interval to which a profile modeling height difference detected in a program period belongs, and arranges and combines the height difference interval and a plurality of vehicle speed intervals which are divided in advance to generate three corresponding parameters of proportion P, integral I and differential D; and performing header height integral separation type PID control operation by using PID parameter values obtained by permutation and combination, and outputting a corresponding PWM value to control the header height adjusting mechanism to act so as to realize the adjustment of the header height.
Optionally, in one embodiment, the ground profiling-based harvester header adaptive control system further comprises a vehicle body inclination sensor, the vehicle body inclination sensor transmitting the acquired vehicle body inclination to the controller; the controller is used for entering an inclination angle intervention control mode when the change rate of the inclination angle of the vehicle body is greater than a second preset value; under an inclination angle intervention control mode, the controller determines a vehicle body inclination angle change rate interval detected in a program period, the inclination angle change rate interval and a plurality of vehicle body inclination angle intervals which are divided in advance are arranged and combined, three parameters of proportion P, integral I and differential D are adjusted, header height integral separation type PID control operation is carried out by utilizing adjusted PID parameter values, a corresponding PWM value is output to control the header height adjusting mechanism to act, and quick response adjustment of the header height is achieved.
When the header angle difference between the header angle and a preset header angle is larger than a third preset value, entering an angle control mode; in an angle control mode, the controller determines a height difference interval to which a profile modeling height difference detected in a program period belongs and an angle difference interval to which a header angle difference belongs, and arranges and combines the height difference interval, the angle difference interval and a plurality of pre-divided vehicle speed intervals to generate three corresponding parameters of proportion P, integral I and differential D; and performing header angle integral separation type PID control operation by using PID parameter values obtained by permutation and combination, and outputting a corresponding PWM value to control the header inclination angle adjusting mechanism to act so as to realize the adjustment of the header inclination angle.
In the embodiment, the profiling sensor, the header rotation sensor and related rotating speed data are collected through the controller, the vehicle speed and the target height deviation value are divided into attribution intervals, PID (proportion integration differentiation) parameters corresponding to different permutation combinations are set, the header can carry out optimal parameter PID operation in various operation states to the maximum extent, the best header attitude adjustment effect is achieved, the adaptive control of the header height is achieved, the problems that an existing header control system lacks a header rotation profiling function, cannot achieve high-speed harvesting, cannot adapt to ground fluctuation and the like are effectively solved, and the header control precision is improved.
The optimal control is achieved by adopting the partition operation, the self-adaptive control of the header is realized by considering control parameters such as the vehicle speed, the header height, the angle and the like in each area, the header can be ensured to be effectively attached to the ground in the operation process of the header in hilly and mountainous areas, and the harvester can achieve the optimal harvesting effect under various ground conditions.
An execution module: comprises a header height adjusting mechanism arranged on a gap bridge and a header inclination angle adjusting mechanism arranged on a rotary connector. The device for executing corresponding actions of the system consists of a corresponding hydraulic pump, a proportional valve and an acting oil cylinder. The hydraulic pump is powered by a diesel engine of the vehicle body to pump hydraulic oil. And after being regulated by a relevant overflow valve and a pressure reducing valve, a stable oil pressure which is in accordance with system parameters is formed at the oil inlet of the proportional valve, the change of a corresponding oil way is controlled by a relevant proportional solenoid valve, and the corresponding hydraulic cylinder realizes the action to complete the adjustment of the posture of the header.
Header inclination adjustment mechanism includes: the first proportional solenoid valve that connects gradually with install additional on swivelling joint body and be used for driving swivelling joint body for the rotatory header rotary hydraulic cylinder of gap bridge rotary motion, header rotary hydraulic cylinder 12's base is fixed in on the gap bridge, and the hydro-cylinder pole is fixed on swivelling joint body, promotes the clockwise rotation of header and predetermines the angle when header rotary hydraulic cylinder stretches out, and header rotary hydraulic cylinder shrink makes the anticlockwise rotation of header predetermine the angle.
The header is kept under the prerequisite of current hydraulic system, installs header rotary hydraulic cylinder on the rotary connector additional. The hydraulic cylinder base is fixed on the gap bridge, and the hydraulic cylinder rod is fixed on the rotary connecting body. When the header rotary hydraulic cylinder extends out, the header can be pushed to rotate clockwise by a certain angle, otherwise, the header can rotate anticlockwise by the contraction of the oil cylinder. And in the earlier stage, the rotation angle of the current header relative to the vehicle body can be calculated by monitoring the telescopic amount of the header rotary oil cylinder through parameter calibration.
Header height control mechanism includes: the second proportional electromagnetic valve and the at least one header lifting hydraulic cylinder 8 are connected in sequence, the header lifting hydraulic cylinder 8 is rotatably arranged below the header 5, and the telescopic end of the header lifting hydraulic cylinder is rotatably connected with the bottom of the header 5; two ends of the header lifting hydraulic cylinder 8 are respectively connected with the bottom of the header 5 and the gap bridge in a rotating way. In this embodiment, the quantity of header hydraulic cylinder 8 can be two, and two header hydraulic cylinder 8 relative distribution are in the both sides of header 5 bottom, and its both ends rotate with the bottom and the gap bridge of header 5 respectively and are connected, and reasonable in design guarantees header 5 steady operation.
The controller converts the PWM into PWMi and outputs the PWMi to the first proportional solenoid valve or the second proportional solenoid valve; and the internal slide valve of the first proportional solenoid valve or the second proportional solenoid valve performs corresponding opening action to drive a corresponding hydraulic cylinder to correspondingly adjust the working state of the header. The valve core of the electromagnetic proportional valve is controlled by the PWMi to realize the control of hydraulic flow, and corresponding hydraulic execution devices are sequentially driven to complete the adjustment of the actions of the related header.
Optionally, in one embodiment, the ground profile based harvester header adaptive control system further comprises a header height sensor and an information feedback and display module. The header height sensor is fixed at the hinged position of the gap bridge 14 and the main frame 15, one side of the header height sensor is connected with the gap bridge, and the other side of the header height sensor is connected with the main frame. The header height sensor adopts angle sensor, and the controller converts angle information into altitude information. The height of the current header is monitored in real time through the sensors and fed back to the controller. The vehicle body inclination angle sensor is fixed below the driving platform and close to the cutting platform and used for measuring the vehicle body attitude and outputting a corresponding voltage signal to the controller, the controller calculates a current corresponding vehicle body attitude signal, the fed back related parameters are displayed on a display screen through a CAN bus, meanwhile, the controller corrects and adjusts proportional valve adjusting parameters P, I, D according to the variation range of the vehicle body attitude, and when the vehicle body attitude changes slightly, the adjusting parameters are kept stable; when the posture of the vehicle body is changed greatly suddenly, the adjusting parameters are correspondingly changed in an amplification way. In addition, the information such as the vehicle speed and the header angle CAN also be displayed on the display screen through the CAN bus.
The header height value is different from the profile modeling height value, the header height reference object is a point where the tire contacts with the ground, the header height value is all effective values of the header, such as 0-100cm, the profile modeling height reference object is the ground, the height is limited, such as 0-35cm, and the header height value is maximum after being separated from the ground. For example, when the tire is on a hard ground, the height of the header is shown to be 30cm, the profiling height is also 30cm in contact with the ground, the header is still motionless, the tire sinks 10cm in the mud, the height of the header is still shown to be 30cm, and the profiling height becomes 30-10=20cm due to contact with the ground. The header height is an auxiliary parameter, and the tire state of the vehicle can be seen.
As shown in fig. 9, the control logic of the adaptive control system for the harvester header based on ground profiling provided by the embodiment of the invention is as follows:
1. when the system normally runs, the header profiling switch is turned on, if the system monitors that the communication of each sensor is normal, the header profiling mode is entered, and if the system monitors that the communication of each sensor is normal, the header profiling mode is exited, and an alarm instruction is sent through a display screen to display the communication fault of the system.
2. And the controller performs difference operation on the set values of the profiling height and the header angle and the actual value monitored by the feedback system, and calculates the corresponding height difference and angle difference. If the height difference is smaller than the first preset value (such as a height threshold value 1), the height of the header is not required to be adjusted temporarily in the program running period, and otherwise, the header height control mode is entered. Similarly, if the angle difference is smaller than a second preset value (e.g., the angle threshold 1), the operation cycle of the routine also needs no angle adjustment temporarily, and otherwise, the routine enters the angle adjustment mode.
3. The requirement on the response time of the system is also changed when the vehicle speed is changed, for example, the requirement on the response time of the system on the lifting of the header is greater during high-speed operation than during low-speed operation. Therefore, the control system also needs to introduce the speed of the harvesting operation into the calculation. If the real-time vehicle speed is compared with three vehicle speed thresholds (a vehicle speed threshold 1, a threshold 2 and a threshold 3) in sequence, when the vehicle speed is less than the vehicle speed threshold 1, a display screen gives an alarm, the display speed is too slow, and a handle control mode is executed; when the vehicle speed is greater than the vehicle speed threshold value 3, the display screen gives an alarm, the vehicle speed is displayed to be too fast, and a handle control mode is executed; when the vehicle speed is between the vehicle speed threshold value 1 and the vehicle speed threshold value 3, the vehicle speed is classified into the vehicle speed section 1 and the vehicle speed section 2 by the vehicle speed threshold value 2.
4. The controller compares the profile modeling height difference with a height difference threshold value 1, and when the profile modeling height difference is smaller than the height difference threshold value 1, the controller does not need to adjust temporarily; when the profile modeling height difference is greater than a height difference threshold value 1, entering a header lifting PID control mode, comparing the profile modeling height difference with a height difference threshold value 2, determining the profile modeling height difference as a height difference interval 1 when the profile modeling height difference is less than the height difference threshold value 2, and determining the profile modeling height difference as a height difference interval 2 when the profile modeling height difference is greater than the height difference threshold value 2; similarly, the angle difference is respectively arranged in corresponding intervals, such as an angle difference interval 1 and an angle difference interval 2.
5. In a header height control mode, a controller comprehensively calculates a height difference interval and a vehicle speed interval detected in a program period, and generates three corresponding parameters of proportion P, integral I and differential D according to an interval permutation and combination mode set in the program; in the header angle control mode, on the basis of the original height difference and the vehicle speed, the angle difference is continuously introduced to carry out comprehensive calculation to form three parameters of proportion P, integral I and differential D in header angle control which are correspondingly generated in a permutation and combination mode.
6. And the controller performs integral separation type PID control operation on the profile modeling height and the header angle by using PID parameter values obtained correspondingly by permutation and combination. And the controller performs difference operation on the current header state fed back by the profiling height sensor and the header degree sensor and an input target value to judge whether header adjustment needs to be continued.
The embodiment of the invention provides a header control profiling system aiming at the header height and the header rotation angle of self-adaptive ground fluctuation, and solves the problem of ground profiling of a header of more than 5 meters when a grain combine is facing a complex terrain during harvesting operation in a mountainous region. The design is carried out on the basis of the original parts of the existing combine harvester, and the working intensity of a driver is greatly reduced through a human-computer interaction interface.
In order to solve the technical problem, an embodiment of the invention further provides a harvester, which comprises the adaptive control system for the cutting station of the harvester based on ground profiling provided by the embodiment. This scheme simple structure can realize the intelligent detection of header along with the topography change to the position of the adjustment header of adaptability makes the effectual ground of pressing close to of header, improves the effect of harvester results.
The harvester header self-adaptive control system based on ground profiling and the harvester, provided by the embodiment of the invention, can realize self-adaptive adjustment of the height of the header and self-adaptive adjustment of the angle of the header, ensure that the header can be effectively attached to the ground in the operation process of the header in hilly and mountainous areas, and can achieve the optimal harvesting effect under various ground conditions; the scheme simplifies the system, can realize the adjustment of the height and the rotation angle of the header with high precision, reduce the working strength of a driver under high-speed harvesting, and effectively improve the quality and the efficiency of harvesting operation; and the harvester header self-adaptive control system based on ground profiling has the advantages of simple design structure, low cost, practicability and reliability.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (14)
1. A harvester header self-adaptive control system based on ground profiling comprises a header mechanism, a rotary connector, a gap bridge and a main frame, wherein the header mechanism comprises a header, a rotary connector, a gap bridge and a main frame; the self-adaptive control system for the harvester header is characterized by comprising profiling mechanisms which are respectively arranged on two sides of the bottom of the harvester header, wherein each profiling mechanism is respectively connected with a profiling sensor through a transmission piece, and the profiling sensors are used for detecting the profiling angles of the profiling mechanisms changing along with the terrain;
the device also comprises a header rotation sensor for monitoring the angle of the header, a vehicle speed sensor for monitoring the speed of a vehicle, a controller, a header height adjusting mechanism for adjusting the height of the header and a header inclination angle adjusting mechanism for adjusting the inclination angle of the header;
the controller converts the profiling angle information into a profiling height, and controls the header height adjusting mechanism and/or the header inclination angle adjusting mechanism to act according to the profiling height, the header angle and the vehicle speed;
the controller is specifically used for entering a height control mode when the profile height difference between the profile height and a preset profile height is greater than a first preset value;
in the height control mode, the controller determines a height difference interval to which a profile modeling height difference detected in a program period belongs, and arranges and combines the height difference interval and a plurality of vehicle speed intervals which are divided in advance to generate three corresponding parameters of proportion P, integral I and differential D; and performing header height integral separation type PID control operation by using PID parameter values obtained by permutation and combination, and outputting a corresponding PWM value to control the header height adjusting mechanism to act so as to realize the adjustment of the header height.
2. The ground profiling based harvester header adaptive control system of claim 1, further comprising a body tilt sensor that sends a captured body tilt to the controller; the controller is used for entering an inclination angle intervention control mode when the change rate of the inclination angle of the vehicle body is greater than a second preset value;
under an inclination angle intervention control mode, the controller determines a vehicle body inclination angle change rate interval detected in a program period, the vehicle body inclination angle change rate interval and a plurality of vehicle body inclination angle intervals which are divided in advance are arranged and combined, three parameters of proportion P, integral I and differential D are adjusted, header height integral separation type PID control operation is carried out by utilizing adjusted PID parameter values, a corresponding PWM value is output to control the header height adjusting mechanism to act, and quick response adjustment of the header height is achieved.
3. The ground profiling based harvester header adaptive control system of claim 1, wherein the controller is specifically configured to enter an angle control mode when a header angle difference of the header angle and a preset header angle is greater than a third preset value;
in an angle control mode, the controller determines a height difference interval to which a profile modeling height difference detected in a program period belongs and an angle difference interval to which a header angle difference belongs, and arranges and combines the height difference interval, the angle difference interval and a plurality of vehicle speed intervals divided in advance to generate three corresponding parameters of proportion P, integral I and differential D; and performing header angle integral separation type PID control operation by using PID parameter values obtained by permutation and combination, and outputting a corresponding PWM value to control the header inclination angle adjusting mechanism to act so as to realize the adjustment of the header inclination angle.
4. The ground profiling based harvester header adaptive control system of any one of claims 1 to 3, wherein the header tilt adjustment mechanism comprises: the rotary connection structure comprises a first proportional solenoid valve, a header rotary hydraulic cylinder, a hydraulic cylinder rod, a header rotary hydraulic cylinder and a header rotary sensor, wherein the first proportional solenoid valve is connected in sequence, the header rotary hydraulic cylinder is additionally arranged on the rotary connection body and used for driving the rotary connection body to rotate relative to a gap bridge, a base of the header rotary hydraulic cylinder is fixed on the gap bridge, the hydraulic cylinder rod is fixed on the rotary connection body, the header rotary hydraulic cylinder pushes the header to rotate clockwise to preset an angle when extending out, the header rotary hydraulic cylinder contracts to enable the header to rotate anticlockwise to preset an angle, and the header rotary hydraulic cylinder is fixed with the header rotary sensor.
5. The ground contour based harvester header adaptive control system of claim 4, wherein the header height adjustment mechanism comprises: the second proportional solenoid valve that connects gradually and install two header hydraulic cylinder on the gap bridge additional, header hydraulic cylinder base is connected on the main frame, and the hydraulic cylinder head is connected in the gap bridge bottom.
6. The ground profiling based harvester header adaptive control system of claim 5, wherein the controller converts PWM to PWMi output to a first proportional solenoid valve or a second proportional solenoid valve; and the internal slide valve of the first proportional solenoid valve or the second proportional solenoid valve performs corresponding opening action to drive a corresponding hydraulic cylinder to correspondingly adjust the working state of the header.
7. The adaptive control system for the harvester header based on ground profiling as defined in claim 6, further comprising a header height sensor and an information feedback and display module, wherein the header height sensor is fixed at a position where the gap bridge is hinged to the main frame, and one side of the header height sensor is connected to the gap bridge and the other side of the header height sensor is connected to the main frame; the header height sensor transmits the collected header height information to the information feedback and display module through the CAN bus.
8. The adaptive control system for the cutting table of the harvester based on ground profiling as claimed in any one of claims 1 to 3 and 5 to 7, wherein each profiling mechanism comprises a rotating shaft and at least one profiling plate, the rotating shaft is horizontally and rotatably arranged on one side of the front end of the cutting table, one end of the rotating shaft is fixedly connected with one end of the corresponding transmission member, the transmission member can vertically swing along with the rotation of the rotating shaft, and the corresponding profiling sensor detects the swinging angle of the transmission member; one end of each of the profile plates is fixedly connected with the rotating shaft, and the other end of each of the profile plates extends downwards in an inclined mode.
9. The ground profile based harvester header adaptive control system of claim 8, wherein the other end of each profile plate is arc shaped.
10. The ground contour based harvester header adaptive control system of claim 8, wherein the other end of each of the contour plates is connected to the header by a deformable connector.
11. The ground profiling based harvester header adaptive control system of claim 10, wherein the linkage is a catenary.
12. The ground profiling based harvester header adaptive control system of any one of claims 9 to 11, wherein each profiling mechanism comprises two profiling plates, one end of each profiling plate is fixedly connected with both ends of the corresponding rotating shaft.
13. The ground profiling-based harvester header adaptive control system of claim 12, wherein the two ends of the rotating shaft are respectively coaxially and slidably sleeved with a hold-down spring, and the two ends of each hold-down spring are respectively abutted against one end of the corresponding profile plate and the header.
14. A harvester comprising the ground profile based harvester header adaptive control system of any one of claims 1 to 3, 5 to 7, 9 to 11 and 13.
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