CN102273359A - Self-adaptive anti-blocking control system and control method for tangential and longitudinal flow combine harvester - Google Patents
Self-adaptive anti-blocking control system and control method for tangential and longitudinal flow combine harvester Download PDFInfo
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Abstract
The invention relates to a self-adaptive anti-blocking control system for a tangential and longitudinal flow combine harvester. The self-adaptive anti-blocking control system is mainly applied to harvesting machines for crops so as to solve the problem that materials are blocked, overloaded and the like in the process of crop harvesting of the tangential and longitudinal flow combine harvester at present. A self-adaptive anti-blocking control method comprises the following steps of: detecting the working load of a tangential and longitudinal flow threshing device by using a host controller; in the threshing and separating process, detecting the rotating speed and the torque of a tangential flow roller and a longitudinal shaft flow roller by using a detection sensor; calculating a change deviation value; comparing the change deviation value with a prestored standard value and judging; and controlling working parameters of a threshing separation device of the tangential and longitudinal flow combine harvester according to the change of the rotating speed and the torque. By the self-adaptive anti-blocking control system and the self-adaptive anti-blocking control method, the harvesting efficiency of the tangential and longitudinal flow combine harvester is improved; failure rate is reduced; harvesting cost is saved; and labor intensity of workers is greatly reduced. The self-adaptive anti-blocking control system and the self-adaptive anti-blocking control method are also suitable for other kinds of combine harvesters.
Description
Technical field
The invention belongs to manufacturing and control field in the agricultural machinery results, be specifically related to self adaptation anti-clogging threshing separation control system and the method for agricultural harvesting machinery when crops being carried out threshing and separate in the field.
Background technology
Agricultural machinery working environment when the harvest operation of field is very abominable, the crop quality that threshing separates is various, in threshing course, exist material water ratio to differ the instability of big and feed quantity, often cause transshipping phenomenon, the moment of torsion of threshing cylinder and rotating speed sudden change are bigger, cause the obstruction of threshing cylinder and more serious, also increased the results cost of crops the destruction of transmission device.At present, obstruction-proof method is mainly realized control to the material feed quantity by tractor driver's experience in the results process, thereby avoids the clogging in the threshing course.Tractor driver's driving level is required height, and technical difficulty is big, and labour intensity is big, is difficult to reduce fault rate, and operating speed and operating efficiency are low.
In recent years along with the appearance of super high-yielding paddy rice, super hybridized rice, its per unit area yield height, growing way are close, the stem stalk thick, the stalk leafiness is luxuriant, moisture content is high, connection power is big between paddy rice fringe head each several part, and the power of combined harvester, service behaviour, operating efficiency, reliability etc. have been proposed requirements at the higher level.Development along with modern agricultural technology, control and harvesting efficiency to combined harvester are also had higher requirement, only depend on artificial and experience often to be difficult to satisfy the intelligent development of harvest machinery, adopt self adaptation anti-clogging Control System Design method to improving the results efficient of installed threshing separator, reduce the fault rate in the results process, it is most important to alleviate artificial labour intensity.At present China is cutting the self adaptation anti-clogging Control System Design method aspect the vertical stream combined harvester and is using and still do not have report.
Summary of the invention
Technical problem to be solved by this invention is: overcome the weak point in the prior art, a kind of compact conformation is provided, method is easy, and a kind of the cutting of easy operating indulged stream combined harvester self adaptation anti-clogging control system.This technology is to solve normal installed threshing separator and the control method that obstruction occurs of Artificial Control longitudinally axial flow threshing separation in the past.
The technical solution used in the present invention is: in the threshing separation process, detect the rotating speed and the torque value of cut flow roller and longitudinal axis stream roller by torque sensor, and be transferred in the console controller with default rotating speed and the torque value of test module and analyze comparison, calculate to change deviate, the comparison judged result of console controller is transferred to host display, running velocity executing agency, cylinder-concave clearance governor motion and voice guard; Show that by host display rotating speed, moment of torsion, power consumption and cylinder-concave clearance to cut flow roller and longitudinal axis stream roller show in real time; By running velocity executing agency the hydraulic continuously variable transmission of cutting vertical stream combined harvester is controlled, regulated the gait of march of combined harvester automatically; By the cylinder-concave clearance governor motion cut flow roller cylinder-concave clearance or longitudinal axis stream roller cylinder-concave clearance are regulated; Adopt voice broadcasting modes that the position and the parameter of fault existence are informed operating personnel by voice guard, stop up the overload phenomenon during the minimizing threshing separates thereby avoid cutting the material of vertical stream combined harvester in results crops process.
The concrete technical scheme of the present invention is to comprise console controller, host display, implementation controller, running velocity executing agency, cylinder-concave clearance governor motion, cut vertical flow threshing device, detecting sensor and voice guard; Cutting vertical flow threshing device comprises cut flow roller, cuts and flow concave grate, feeding-wheel, longitudinal axis stream concave grate and longitudinal axis stream roller; Implementation controller comprises cuts stream controller and longitudinal axis stream controller, and the cylinder-concave clearance governor motion comprises cuts stream cylinder-concave clearance governor motion and longitudinally axial flow threshing gap adjusting mechanism, and detecting sensor comprises cuts stream detecting sensor and longitudinal axis stream detecting sensor; Console controller links to each other with implementation controller with voice guard, host display, detecting sensor, running velocity executing agency respectively, implementation controller links to each other with the cylinder-concave clearance governor motion, cut vertical flow threshing device and link to each other with the cylinder-concave clearance governor motion, running velocity executing agency links to each other with the control device of cutting vertical stream combined harvester hydraulic continuously variable transmission; Console controller, host display and voice guard are installed in the driver's cabin of cutting vertical stream combined harvester, are convenient to operating personnel's observation, and detecting sensor is installed on the final drive shaft of cut flow roller and longitudinal axis stream roller.
The concrete steps of cutting the employing of vertical stream combined harvester self adaptation anti-clogging control system are as follows:
1) console controller detects the cut flow roller of work and the load of longitudinal axis stream roller.
2) detecting sensor is obtained the cut flow roller in the threshing course and the rotating speed and the torque value of longitudinal axis stream roller, and is transferred in the console controller with default rotating speed and the torque value of test module and compares judgement, calculates to change deviate.
3) if the rotation speed change deviate that console controller calculates standard value 30%～50% between or the change in torque deviate standard value 120%～150% between, the comparison judged result of console controller is transferred to host display and voice guard.
4) if the rotation speed change deviate of the calculating of console controller be lower than standard value 30% or the change in torque deviate value of being above standard 150%, the comparison judged result of console controller is transferred to implementation controller, and implementation controller is controlled the cylinder-concave clearance governor motion; The comparison judged result of console controller is transferred to host display, running velocity executing agency and voice guard.
The cylinder-concave clearance governor motion is to adopt stepper motor, electric power cylinder or hydraulic cylinder to regulate the relative position of cutting stream concave grate and cut flow roller, and the cylinder-concave clearance adjustable extent of cut flow roller is 10mm～50mm; The method that the cylinder-concave clearance governor motion is regulated the cylinder-concave clearance of longitudinal axis stream roller is to adopt stepper motor, electric power cylinder or hydraulic cylinder to regulate the relative position of longitudinal axis stream roller and longitudinal axis stream concave grate, and the cylinder-concave clearance adjustable extent of longitudinal axis stream roller is 20mm～60mm.
Cutting the stream detecting sensor is to be detected the rotating speed and the torque value of cut flow roller by torque sensor, torque rotary speed sensor, intelligent torquemeter or moment of torsion data collecting system, the detecting rotational speed scope is 0～1200r/min, and the measurement range of moment of torsion is-500 Nm～500Nm; The rotating speed of longitudinal axis stream detecting sensor test longitudinal axis stream roller and the method for moment of torsion are to be detected the rotating speed and the torque value of longitudinal axis stream roller by torque sensor, torque rotary speed sensor, intelligent torquemeter or moment of torsion data collecting system, the detecting rotational speed scope is 0～1000r/min, and the measurement range of moment of torsion is-1000 Nm～1000Nm.
Host display receives rotating speed, moment of torsion, power consumption and the cylinder-concave clearance of the cut flow roller of console controller transmission, the running velocity value of the rotating speed of longitudinal axis stream roller, moment of torsion, power consumption and cylinder-concave clearance and running velocity actuating mechanism controls, and show in real time; Running velocity executing agency receives the gait of march value of console controller, and the hydraulic continuously variable transmission of cutting vertical stream combined harvester is controlled, and regulates the gait of march of combined harvester automatically; Fault alarm method is the alarm signal that voice guard receives console controller, and with voice broadcasting modes position and parameter that fault exists is informed operating personnel.
Torque sensor obtains rotating speed and the torque value that the rotating speed of cutting each workpiece on the vertical flow threshing device and torque value and test module preset and compares judgement, adopt method of least squares that the Changing Pattern value is carried out curve fitting rotating speed and the torque change rule value that calculates respectively, obtain the deviate of the change curve and the described change curve of rotating speed and torque value according to curve-fitting results; Changing deviate comparative standard value with the calculating of console controller is to measure by bench test cutting on the vertical flow threshing device testing stand, and the structure and parameter of cutting vertical flow threshing device testing stand during test is with corresponding to cut the vertical structure and parameter that flows sheller unit on the combine identical.
Console controller comprises industrial computer, and data acquisition card and TT﹠C software, TT﹠C software system adopt VC++ to write, and the data acquisition card sample frequency is 1kHz; The torque accuracy of detecting sensor is less than 0.1%FS, and rotational speed output signal is 900～2000 pulse/commentaries on classics, and the output frequency signal amplitude is 0～5V level square-wave signal, and moment of torsion frequency output area is 5～15kHZ.
The invention has the beneficial effects as follows, cut vertical stream combined harvester self adaptation anti-clogging control system and can improve the automaticity of cutting vertical stream combined harvester, save artificial, alleviate artificial labour intensity, improve existing results efficient of cutting vertical stream combined harvester, reduce the fault rate in the results process, avoid in threshing course owing to material water ratio differs the overload phenomenon that instability big and feed quantity causes, the obstruction of the moment of torsion of threshing cylinder and the sudden change of rotating speed and threshing cylinder and to the destruction of transmission device greatly reduces the results cost of crops.
Description of drawings
Fig. 1 cuts vertical stream combined harvester self adaptation anti-clogging control system structure annexation schematic diagram.
Fig. 2 cuts vertical stream combined harvester installed threshing separator schematic diagram.
Fig. 3 cuts vertical stream combined harvester self adaptation anti-clogging control system FEEDBACK CONTROL block diagram.
Fig. 4 cuts vertical stream combined harvester self adaptation anti-clogging control system operational flowchart.
Among the figure, 1. console controller, 2. host display, 3. implementation controller, 301. cut stream controller, 302. longitudinal axis stream controller, 4. running velocity executing agency, 5. cylinder-concave clearance governor motion, 501. cut stream cylinder-concave clearance governor motion, 502. the longitudinally axial flow threshing gap adjusting mechanism is 6. cut vertical flow threshing device, 601. cut flow roller, 602. cut the stream concave grate, 603. feeding-wheel, 604. longitudinal axis stream concave grate, 605. longitudinal axis stream rollers, 7. detecting sensor, 701. cut the stream detecting sensor, 702. longitudinal axis stream detecting sensor, 8. voice guard.
Embodiment
Below in conjunction with accompanying drawing the specific embodiment of the present invention is described in further detail.
A kind of cutting indulged stream combined harvester self adaptation anti-clogging control system, comprises console controller 1, host display 2, implementation controller 3, running velocity executing agency 4, cylinder-concave clearance governor motion 5, cuts vertical flow threshing device 6, detecting sensor 7, voice guard 8.
As shown in Figure 1, console controller 1 links to each other with voice guard 8, host display 2, detecting sensor 7, running velocity executing agency 9 and implementation controller 3 respectively, implementation controller 3 links to each other with cylinder-concave clearance governor motion 5, cut vertical flow threshing device 6 and link to each other with cylinder-concave clearance governor motion 5, running velocity executing agency 4 links to each other with the control device of cutting vertical stream combined harvester hydraulic continuously variable transmission; Console controller 1, host display 2 and voice guard 8 are installed in the driver's cabin of cutting vertical stream combined harvester.
As shown in Figure 2, cutting vertical flow threshing device 6 comprises cut flow roller 601, cuts and flow concave grate 602, feeding-wheel 603, longitudinal axis stream concave grate 604 and longitudinal axis stream roller 605, implementation controller 3 comprises cuts stream controller 301 and longitudinal axis stream controller 302, cylinder-concave clearance governor motion 5 comprises cuts stream cylinder-concave clearance governor motion 501 and longitudinally axial flow threshing gap adjusting mechanism 502, and detecting sensor 7 comprises cuts stream detecting sensor 701 and longitudinal axis stream detecting sensor 702; Cut stream detecting sensor 701 and be installed on the final drive shaft of cut flow roller 601, longitudinal axis stream detecting sensor 702 is installed on the final drive shaft of longitudinal axis stream roller 605; At first undertaken just taking off by cut flow roller 601 after agricultural material enters, carry out initial gross separation by cutting stream concave grate 602, material feeds longitudinal axis stream roller 605 and takes off again under the auxiliary feeding of feeding-wheel 603, separated once more by longitudinal axis stream concave grate 604.
As shown in Figure 3 and Figure 4, a kind of feedback and operating process of cutting vertical stream combined harvester self adaptation anti-clogging control system is:
Console controller 1 according to the test module preset value successively to longitudinal axis stream controller 302 with cut stream controller 301 and detect.
Cut stream controller 301 controls and cut stream cylinder-concave clearance governor motion 501, cut flow roller 601 is carried out first taking off with the material of cutting 602 pairs of feedings of stream concave grate and is separated, by cutting rotating speed and the torque value that stream detecting sensor 701 is measured cut flow roller 601, and feed back in the console controller 1, console controller 1 rotating speed and torque value that test module is default flows detecting sensor 701 detected values and compares with cutting, calculate and change deviate, control signal is sent to cuts stream controller 301, regulate by cutting the cylinder-concave clearance that stream controller 301 control cuts 501 pairs of cut flow roller 601 of stream cylinder-concave clearance governor motion again, by console controller 1 control travel speed executing agency 4, thus determine to cut vertical stream combined harvester gait of march.
Longitudinal axis stream controller 302 control longitudinally axial flow threshing gap adjusting mechanisms 502, material is by feeding-wheel 603 auxiliary feedings, take off again by longitudinal axis stream roller 605 and longitudinal axis stream concave grate 604 and to separate, measure the rotating speed and the torque value of longitudinal axis stream roller 605 by longitudinal axis stream detecting sensor 702, and feed back in the console controller 1, rotating speed that console controller 1 is default with test module and torque value and longitudinal axis stream detecting sensor 702 detected values compare, and calculate to change deviate; Control signal is sent to cuts stream controller 301 and longitudinal axis stream controller 302; Regulate by the cylinder-concave clearance of 502 pairs of longitudinal axis stream rollers 605 of longitudinal axis stream controller 302 control longitudinally axial flow threshing gap adjusting mechanisms again, cut stream cylinder-concave clearance governor motion 501 by cutting stream controller 301 controls, by master controller 1 control travel speed executing agency 4, thus determine to cut vertical stream combined harvester gait of march.
A kind of specific implementation process of cutting vertical stream combined harvester self adaptation anti-clogging control system of this model is that console controller 1 detects the cut flow roller 601 of startup and the load of longitudinal axis stream roller 605 successively; Detecting sensor 7 is obtained the cut flow roller 601 in the threshing course and the rotating speed and the torque value of longitudinal axis stream roller 605, and is transferred in the console controller 1 with default rotating speed and the torque value of test module and compares judgement, calculates to change deviate; If the rotation speed change deviate that console controller 1 calculates standard value 30%～50% between or the change in torque deviate standard value 120%～150% between, the comparison judged result of console controller 1 is transferred to host display 2 and voice guard 8; If the rotation speed change deviate of the calculating of console controller 1 be lower than standard value 30% or the change in torque deviate value of being above standard 150%, the comparison judged result of console controller 1 is transferred to implementation controller 3, and 3 pairs of cylinder-concave clearance governor motions 5 of implementation controller are controlled; The comparison judged result of console controller 1 is transferred to host display 2, running velocity executing agency 9 and voice guard 8; Show that by host display 2 rotating speed, moment of torsion, power consumption and cylinder-concave clearance to cut flow roller 601 and longitudinal axis stream roller 605 show in real time; Cut the hydraulic continuously variable transmission of vertical stream combined harvester by 4 pairs of running velocity executing agencies and control, regulate the gait of march of combined harvester automatically; Regulate by 5 pairs of cut flow roller 604 cylinder-concave clearances of cylinder-concave clearance governor motion or longitudinal axis stream roller 605 cylinder-concave clearances; Adopt voice broadcasting modes that position and parameter that fault exists are informed operating personnel by voice guard 8.
Claims (7)
1. cut vertical stream combined harvester self adaptation anti-clogging control system for one kind, it is characterized in that, comprise console controller (1), host display (2), implementation controller (3), running velocity executing agency (4), cylinder-concave clearance governor motion (5), cut vertical flow threshing device (6), detecting sensor (7) and voice guard (8), cut vertical flow threshing device (6) and comprise cut flow roller (601), cut stream concave grate (602), feeding-wheel (603), longitudinal axis stream concave grate (604) and longitudinal axis stream roller (605), implementation controller (3) comprises cuts stream controller (301) and longitudinal axis stream controller (302); Cylinder-concave clearance governor motion (5) comprises cuts stream cylinder-concave clearance governor motion (501) and longitudinally axial flow threshing gap adjusting mechanism (502); Detecting sensor (7) comprises cuts stream detecting sensor (701) and longitudinal axis stream detecting sensor (702); Described console controller (1) links to each other with voice guard (8), host display (2), detecting sensor (7), running velocity executing agency (9) and implementation controller (3) respectively, described implementation controller (3) links to each other with cylinder-concave clearance governor motion (5), and cylinder-concave clearance governor motion (5) is arranged on to be cut on the vertical flow threshing device (6); Running velocity executing agency (4) links to each other with the control device of the hydraulic continuously variable transmission of cutting vertical stream combined harvester; Console controller (1), host display (2) and voice guard (8) are installed in the driver's cabin of cutting vertical stream combined harvester, cut stream detecting sensor (701) and be installed on the final drive shaft of cut flow roller (601), longitudinal axis stream detecting sensor (702) is installed on the final drive shaft of longitudinal axis stream roller (605).
2. indulge stream combined harvester self adaptation anti-clogging control system according to described the cutting of claim 1, it is characterized in that: cylinder-concave clearance governor motion (5) is to adopt stepper motor, electric power cylinder or hydraulic cylinder to regulate the relative position of cutting stream concave grate (602) and cut flow roller (601), and the cylinder-concave clearance adjustable range of cut flow roller (601) is 10mm～50mm; Cylinder-concave clearance governor motion (5) is to adopt stepper motor, electric power cylinder or hydraulic cylinder to regulate the relative position of longitudinal axis stream roller (605) and longitudinal axis stream concave grate (604), and the cylinder-concave clearance adjustable range of longitudinal axis stream roller (605) is 20mm～60mm.
3. indulge stream combined harvester self adaptation anti-clogging control system according to claim 1 or 2 described cutting, it is characterized in that: cutting stream detecting sensor (701) is rotating speed and the torque value that is detected cut flow roller (601) by torque sensor, torque rotary speed sensor, intelligent torquemeter or moment of torsion data collecting system, the detecting rotational speed scope is 0～1200r/min, and the measurement range of moment of torsion is-500Nm～500Nm; Longitudinal axis stream detecting sensor (702) is to be detected the rotating speed and the torque value of longitudinal axis stream roller (605) by torque sensor, torque rotary speed sensor, intelligent torquemeter or moment of torsion data collecting system, the detecting rotational speed scope is 0～1000r/min, and the measurement range of moment of torsion is-1000Nm～1000Nm.
4. indulge stream combined harvester self adaptation anti-clogging control system according to claim 1 or 2 described cutting, it is characterized in that: host display (2) receives rotating speed, moment of torsion, power consumption and the cylinder-concave clearance of the cut flow roller (601) of console controller (1) transmission, the running velocity value of rotating speed, moment of torsion, power consumption and the cylinder-concave clearance of longitudinal axis stream roller (605) and running velocity executing agency (9) control, and show in real time.
5. indulge stream combined harvester self adaptation anti-clogging control system according to claim 1 or 2 described cutting, it is characterized in that: console controller (1) comprises industrial computer, data acquisition card and TT﹠C software, TT﹠C software system adopt VC++ to write, and the data acquisition card sample frequency is 1kHz.
6. indulge stream combined harvester self adaptation anti-clogging control system according to claim 1 or 2 described cutting, it is characterized in that: the torque accuracy of detecting sensor (7) is less than 0.1%FS, rotational speed output signal is 900～2000 pulse/commentaries on classics, the output frequency signal amplitude is 0～5V level square-wave signal, and moment of torsion frequency output area is 5～15kHZ.
7. implement the described a kind of control method of cutting vertical stream combined harvester self adaptation anti-clogging control system of claim 1, it is characterized in that, adopt following steps:
A) determine the standard value of console controller (1), it is to measure by bench test cutting on the vertical flow threshing device testing stand that the calculating of console controller (1) changes deviate comparative standard value, and the structure and parameter of cutting vertical flow threshing device testing stand during test is with corresponding to cut the vertical structure and parameter that flows sheller unit on the combine identical;
B) console controller (1) detects the cut flow roller (601) of work and the load of longitudinal axis stream roller (605);
C) detecting sensor (7) is obtained the cut flow roller (601) in the threshing course and the rotating speed and the torque value of longitudinal axis stream roller (605), and be transferred in the console controller (1) with default rotating speed and the torque value of test module and compare judgement, calculate and change deviate; Torque sensor (7) obtains to be cut vertical flow threshing device (6) and goes up rotating speed and the torque value that the rotating speed of each workpiece and torque value and test module preset and compare judgement, adopt method of least squares that the Changing Pattern value is carried out curve fitting rotating speed and the torque change rule value that calculates respectively, obtain the deviate of the change curve and the described change curve of rotating speed and torque value according to curve-fitting results;
D) when rotation speed change deviate that console controller (1) calculates standard value 30%～50% between or the change in torque deviate standard value 120%～150% between, the comparison judged result of console controller (1) is transferred to host display (2) and voice guard (8), and voice guard (8) is informed operating personnel with voice broadcasting modes with position and parameter that fault exists;
E) the rotation speed change deviate of calculating when console controller (1) be lower than standard value 30% or the change in torque deviate value of being above standard 150%, the comparison judged result of console controller (1) is transferred to implementation controller (3), implementation controller (3) is controlled cylinder-concave clearance governor motion (5), and cylinder-concave clearance governor motion (5) is regulated the cylinder-concave clearance of cut flow roller (601) and the cylinder-concave clearance of longitudinal axis stream roller (605); The comparison judged result of console controller (1) is transferred to host display (2), running velocity executing agency (9) and voice guard (8); Running velocity executing agency (9) controls, reduces the gait of march of combined harvester to cutting the vertical hydraulic continuously variable transmission that flows combined harvester, and voice guard (8) is informed operating personnel with voice broadcasting modes with position and parameter that fault exists.
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| CN201110145990.4A CN102273359B (en) | 2011-06-01 | 2011-06-01 | Self-adaptive anti-blocking control system and control method for tangential and longitudinal flow combine harvester |
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| CN201110145990.4A CN102273359B (en) | 2011-06-01 | 2011-06-01 | Self-adaptive anti-blocking control system and control method for tangential and longitudinal flow combine harvester |
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