CN108843635A - A kind of hydraulic transmission control system and control method of Hills tractor - Google Patents
A kind of hydraulic transmission control system and control method of Hills tractor Download PDFInfo
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- CN108843635A CN108843635A CN201810938220.7A CN201810938220A CN108843635A CN 108843635 A CN108843635 A CN 108843635A CN 201810938220 A CN201810938220 A CN 201810938220A CN 108843635 A CN108843635 A CN 108843635A
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/20—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors controlling several interacting or sequentially-operating members
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- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Guiding Agricultural Machines (AREA)
Abstract
The present invention relates to a kind of hydraulic transmission control system of Hills tractor, whether travel driving system monitoring wheel-side motor skids and feeds back to central processing unit, if skidding, the flow of four wheel-side motors of central processing unit is according to proportional allocations；Multi-mode steering system controls front-wheel steer oil cylinder and rear-axle steering cylinder action, realizes different steering patterns；Ramp Adaptable System knows upward slope or descending state by horizon sensor monitor value, and by the monitor value of displacement sensor, judges and control the stretching of each hydraulic cylinder piston rod, realizes vehicle frame leveling；Lifting, horizontal copying system adjustment lifting hydraulic cylinder to object height value, and horizontal shape imitation hydraulic cylinder is adjusted to target level position；Intelligent seeding system has the speed probe for being mounted on tractor rear wheel wheel-side motor, and central controller sows the revolving speed of drive motor according to wheel wheel-side motor rotational speed regulation.For the present invention to the hydraulic drive entirety centralized control of Hills tractor, intelligent level is higher.
Description
Technical field
The present invention relates to a kind of Hydraulic Power Transmission Systems, are a kind of Hills tractor hydraulic transmission control specifically
System and control method.
Background technique
Hills area accounts for about 1/3 or more of China's national territorial area, and according to statistics, Hills grain yield accounts for the whole nation
55%, oil-bearing crops account for about 49%, and hilly land agriculture expanding economy has a high potential, and occupy in Chinese national economy development
Highly important status.But since its surface relief is big, field is small, irregular, slope sharp bend is more, conventional tractor is on hills mountain
That there are passabilities when area's operation is poor, turning difficulty, the problems such as operation quality is poor, this already becomes hilly land agriculture machinery
The bottleneck of development.
Summary of the invention
The purpose of the present invention is：The hydraulic transmission control system and control method of a kind of Hills tractor are provided, it is whole
Body uses hydraulic system, promotes variable speed ability and range, mitigates overall mass, mentions high-clearance and passability；It improves and turns to
Flexibility；Promote the comfortableness and security that ramp drives；The automatic level for guaranteeing workpiece and ground；Subsidiary intelligence sowing
Power interface, motor rotary speed according to user requirement be arranged, be adapted to the sowing of different travel speeds and Different Crop
It is required that promoting sowing consistency；Realize that whole centralized control, intelligent level are higher.
The present invention takes following technical scheme：
A kind of hydraulic transmission control system of Hills tractor, including Hydraulic Power Transmission System includes hoofing part system
System, multi-mode steering system, lifting, horizontal copying system, intelligent seeding system, ramp Adaptable System；Central controller is made
For the control centre of above-mentioned each system；Travel driving system has the revolving speed being separately mounted on the output shaft of four wheel-side motors
Whether sensor, monitoring wheel-side motor skid；Central controller is connect with the signals of rotational speed sensor, when skidding, if
2/2-way solenoid directional control valve between adjacent wheel-side motor obtains electric, and the flow of four wheel-side motors is according to proportional allocations；
Multi-mode steering system has the angular transducer monitored for steering wheel angle, central controller and the angular transducer signal
Connection, front-wheel steer oil cylinder 22 are connect with three-position four-way electromagnetic directional valve 1, rear-axle steering oil cylinder 23 and 3-position 4-way electromagnetism
Reversal valve 2 21 connects, and central controller obtains electric/power loss by controlling the left and right current potential of two three-position four-way electromagnetic directional valves,
It is acted to control front-wheel steer oil cylinder 22 and rear-axle steering oil cylinder 23, realizes different steering patterns；Ramp Adaptable System tool
There is the horizon sensor being mounted on the crossbeam of vehicle frame two sides, and is mounted on the displacement sensor of hydraulic cylinder piston rod, center control
Device is connect with the horizon sensor, displacement transducer signal, and the frame hydraulic cylinder in tractor four corners orientation is respectively and respectively
The connection of 3-position 4-way proportional reversing valve, central controller knows upward slope or descending state by horizon sensor monitor value, and
By the monitor value of displacement sensor, the stretching situation of each hydraulic cylinder piston rod is judged, and pass through control this four three four
Logical proportional reversing valve obtains electric/power loss, to control the frame hydraulic cylinder movement in four corners orientation, realizes vehicle frame leveling；Lifting, water
Flat copying system has the contactless range sensor being arranged on mounting machine, the range sensor and central controller signal
Connection, real-time detection workpiece have the vertical range to ground, three-position four-way electromagnetic directional valve 3 24 and lifting shape imitation hydraulic
Cylinder 29 connects, and three-position four-way electromagnetic directional valve 4 25 is connect with horizontal shape imitation hydraulic cylinder 28；Central controller passes through control three
The left and right current potential of four-way electromagnetic reversing valve 3 24 obtains electric/power loss, adjustment lifting hydraulic cylinder 29 to target value, and then drives work department
Part is to object height value；Central controller obtains electric/power loss by controlling the left and right current potential of three-position four-way electromagnetic directional valve 4 25, adjusts
Whole horizontal shape imitation hydraulic cylinder 28 is to target level position；Intelligent seeding system, which has, is mounted on turning for tractor rear wheel wheel-side motor
Fast sensor, central controller are connect with the signals of rotational speed sensor, rear wheel rotation side motor rotary speed and Running Speed of Tractor pair
It answers, central controller passes through the electric current for changing proportional velocity regulating valve 31, to adjust the revolving speed of sowing drive motor 32.
A kind of control method of the hydraulic transmission control system of Hills tractor, travel driving system and multi-mode turn
To system by central controller controls, the switching of hoofing part and multi-mode steering system to tractor is controlled, the two
It cooperates；The detecting element of travel driving system is 4 speed probes, is separately mounted to the output shaft of four wheel-side motors
On, it is mainly used for real-time detection wheel-side motor revolving speed；When not skidding, three 2/2-way solenoid directional control valves 6,7,8 are disconnected
The flow of electricity, four wheel-side motors freely distributes, and when skidding, three 2/2-way solenoid directional control valves 6,7,8 must be electric, and four
The flow of a wheel-side motor is according to proportional allocations, so that machine restores driving capability again；Tractor do not occur skid and
When needing to turn to, central controller switches to multi-mode steering system, 4 kinds of steering patterns be respectively front-wheel steer, rear-axle steering,
Four-wheel turns to one heart and four-wheel crab type turns to；When selecting front-wheel steer mode, direction of rotation and corner of the system according to steering wheel
Size is controlled, and obtains the left position of three-position four-way electromagnetic directional valve 1 or right position electric, realizes front-wheel steer；Selection
When rear-axle steering pattern, central controller is controlled according to the direction of rotation and corner size of steering wheel, only makes three four
The left position of electric change valve 2 21 or right position obtain electric, realization rear-axle steering；When the concentric steering pattern of selection four-wheel, center
Controller is controlled according to the direction of rotation and corner size of steering wheel, so that three-position four-way electromagnetic directional valve 1 and three
The left position of four-way electromagnetic reversing valve 2 21 and/or right position obtain it is electric, realize four-wheel turn to one heart；When selection four-wheel crab type steering pattern
When, central controller is controlled according to the direction of rotation and corner size of steering wheel, so that three-position four-way electromagnetic directional valve one
20 left position and the right position of three-position four-way electromagnetic directional valve 2 21 simultaneously it is electric, or make three-position four-way electromagnetic directional valve 1
Right position and three-position four-way electromagnetic directional valve 2 21 left position simultaneously it is electric, realize four-wheel crab type turn to.
Further, ramp Adaptable System carries out the leveling control of vehicle frame to tractor during ramp driving, should
The horizon sensor that the detecting element of system is mounted on vehicle frame and the displacement sensor for being mounted on hydraulic cylinder piston rod, it is horizontal
Number of sensors is 2, is separately mounted on the outermost crossbeam of tractor frame beam, the number that the horizon sensor will be tested
According to central controller is fed back to, central controller judges tractor in upward slope or descending；If tractor is going up a slope, pass through position
The data of displacement sensor judge that the stretching situation of each hydraulic cylinder piston rod, control system finally determine that leveling scheme is by three
The right position of four-way proportional reversing valve one, 2 43,44 obtains electric or three, 4 45,46 left position of 3-position 4-way proportional reversing valve is same simultaneously
Shi get electricity；If tractor judges the stretching situation of each hydraulic cylinder piston rod in descending, central controller finally determines leveling
Scheme be by one, 2 43,44 left position of 3-position 4-way proportional reversing valve and meanwhile it is electric or by 3-position 4-way proportional reversing valve three, four
45,46 right positions obtain electric simultaneously, final to realize vehicle frame leveling；When tractor is from ramp driving to grading roads, 4 frame hydraulics
The piston rod of cylinder 51,52,53,54 is entirely retracted to.
Further, lifting, horizontal hydraulic pressure copying system are adjusted control to the agricultural machinery utensil mounted to tractor
System：The detecting element of raise-lower hydraulic copying system is contactless range sensor, is used for real-time detection and mounts equipment to ground
The vertical range in face；When causing the distance to be greater than the set value due to surface relief, the right position of three-position four-way electromagnetic directional valve 3 24
Must be electric, lifting hydraulic cylinder 29 is automatically adjusted to target value；When causing the distance to be less than setting value due to surface relief, three four
3 24 left position of electric change valve obtains electric, and lifting hydraulic cylinder 29 is automatically adjusted to target value；When system does not adjust, 3-position 4-way
Position is accessed in solenoid directional control valve 3 24, system unloaded, and lifting hydraulic cylinder 29 is fixed locked；The detection member of horizontal hydraulic pressure copying system
Part is horizon sensor, and the horizon sensor is mounted on the workpiece of mounting, for detecting mounted workpiece
Horizontality, when run-off the straight, the right position of three-position four-way electromagnetic directional valve 4 25 or left position obtain electric, and hydraulic cylinder level is imitative
The workpiece mounted is adjusted to horizontal position by shape 28, when the access of the middle position of three-position four-way electromagnetic directional valve 4 25, is
System off-load, horizontal shape imitation hydraulic cylinder 28 are dead by fluid-control one-way valve group reversible lock.
Further, intelligent seeding system is controlled the feed mechanism for seed of tractor mounting, the intelligence sowing
The detecting element of system is mounted in the speed probe of tractor rear wheel wheel-side motor, the revolving speed that will test in conjunction with rear wheel diameter
It is converted into the actual travel speed of tractor, while proportional velocity regulating valve 31 is changed based on application rate set by user and controls electricity
The size of stream realizes that sowing wheel speed is automatically adjusted with travel speed and the target amount of broadcasting.
The beneficial effects of the present invention are：
1) the problem of hydraulic drive parallel connection motor that the control method of travel driving system efficiently solves skids, improves
The driving driving performance of complete machine.
2) tractor may be implemented in the case where wheel-slip does not occur in the control method of multi-mode steering system, front-wheel
Steering, rear-axle steering, four-wheel turn to one heart and four-wheel crab shape turns to the switching of four kinds of modes, can select to turn to according to actual condition
Mode improves steering flexibility, reduces turning radius；And pass through central controller and travel driving system switch operating.
3) control method of ramp Adaptable System may be implemented tractor and vehicle frame be adjusted to water during climb and fall
It is flat, improve driving comfort and driving safety.
4) lifting, horizontal copying system control method be that the workpiece that tractor mounts provides power, lifting profiling
System can make workpiece float up and down as requested, it is ensured that workpiece is consistent with ground distance, horizontal profiling system
System may insure that workpiece holding in surface relief variation is horizontal.It is effectively guaranteed the workpiece that tractor is mounted
Operation quality.
5) intelligent seeding system can provide power interface for sowing component, and motor rotary speed is arranged according to the requirement of user,
It is adapted to the sowing requirement of different travel speeds and Different Crop, sowing consistency is high, intelligent level with higher.
6) realize that whole centralized control, intelligent level are higher.
Detailed description of the invention
Fig. 1 is hydraulic system principle figure, in figure：
1 diesel engine, 2 transfer cases, 3 speed increasing mechanisms, 4 two-way variable displacement plunger pumps, 5 syncmotors, 6 2/2-way electromagnetism
Reversal valve, 9 left front wheel-drive motors, 10 off-front wheel drive motors, 11, left back wheel-drive motor, 12 off hind wheel drive motors, 13
Fuel tank, 14 coarse filters, 15 safety valves one, 36 safety valves two, 16 gear pumps, 17 pressure-gradient control valves, 18 turning machines, 19 steering wheels, 20
21 24 25 three-position four-way electromagnetic directional valves one, two, three, four, 22 front-wheel steer oil cylinders, 23 rear-axle steering oil cylinders, 26 47 48
49 50 hydraulic control one-way valves five, one, two, three, four, 27 fluid-control one-way valve groups, 28 horizontal shape imitation hydraulic cylinders, 29 lifting shape imitation hydraulics
Cylinder, 30 34 fine filters one, two, 31 proportional velocity regulating valves, 32 sowing drive motors, 33 coolers, 35 constant pressure variable displacement pumps, 37 38
Flow divider one, two, 39 40 41 42 uniform-pressure-drop valves one, two, three, four, 43 44 45 46 3-position 4-way proportional reversing valves one,
Two, three, four, 51 left front frame hydraulic cylinders, 52 right front frame hydraulic cylinders, 53 left back frame hydraulic cylinders, 54 right Rear frame hydraulic cylinders.
Fig. 2 is hoofing part of the invention and multi-mode steering system control process figure.
Fig. 3 is ramp Adaptable System control flow chart of the invention.
Fig. 4 is lifting of the invention, horizontal copying system and intelligent seeding system control flow chart.
Specific embodiment
Present invention will be further explained below with reference to the attached drawings and specific examples.
Referring to Fig. 1, the Hydraulic Power Transmission System of Hills tractor mainly includes 5 parts, is respectively：(1) walking is driven
Dynamic system；(2) multi-mode steering system；(3) ramp Adaptable System；(4) lifting, horizontal copying system；(5) intelligence sowing system
System.
The dynamical element of travel driving system is two-way variable displacement plunger pump 4, and one end of two-way variable displacement plunger pump 4, which connects, to be synchronized
5,3 2/2-way solenoid directional control valves 6,7,8 of motor are installed in parallel four oil outlets in syncmotor 5 respectively, and 3 two two
Electric change valve must not be connected to always when electricity, be disconnected when obtaining electric.Executive component is 4 Direct wheel drives motors.
The dynamical element of multi-mode steering system is gear pump 16, and the oil outlet of gear pump is connected in parallel safety valve 15 and excellent
First valve 17, the CF hydraulic fluid port of the pressure-gradient control valve connect turning machine 18, and the measure motor and steering wheel of tractor of the turning machine connect
It connects, L the and R hydraulic fluid port of turning machine is separately connected three-position four-way electromagnetic directional valve 20,21, passes through the logical of two three position four-way directional control valves
Electricity, power-off combinations of states can be realized front-wheel steer, rear-axle steering, four-wheel turns to one heart and four-wheel crab shape steering four kinds of modes
Switching.
The dynamical element of ramp Adaptable System is constant pressure variable displacement pump 35, and the oil outlet of constant pressure variable displacement pump is connected in parallel shunting
Valve 37 and flow divider 38, flow divider 37 and 38 is according to 1:Hydraulic oil is divided into two by 1 ratio, and ramp Adaptable System passes through 4
The mating reaction of a 3-position 4-way proportional reversing valve 43,44,45 and 46 adjusts horizontal.
Lifting, horizontal copying system and intelligent seeding system are used primarily to ensure the work of the workpiece of tractor mounting
Quality.
Fig. 2 is hoofing part of the invention and multi-mode steering system control process figure.Referring to fig. 2, the walking is driven
Dynamic and multi-mode steering system control method controls the switching of the hoofing part and multi-mode steering system of tractor, and two
Person cooperates.The detecting element of the travel driving system is 4 speed probes, is separately mounted to four wheel-side motors
Output shaft on, be mainly used for real-time detection wheel-side motor revolving speed.When not skidding, solenoid valve 6,7,8 is powered off, electric at this time
In an ON state, the flow of four wheel-side motors freely distributes magnet valve according to the demand of system, (i.e. a certain when skidding
A or multiple vehicle wheels side motor rotary speed obviously rises, and system pressure significantly reduces), solenoid valve 6,7,8 must be electric, at this time solenoid valve
It is in an off state, the flow of four wheel-side motors is according to proportional allocations, so that machine restores driving capability again.
With continued reference to Fig. 2, multi-mode steering system control method when tractor does not skid and needs to turn to first
4 kinds of steering patterns should be selected, 4 kinds of steering patterns are that front-wheel steer, rear-axle steering, four-wheel turn to one heart respectively
It is turned to four-wheel crab type.When selecting front-wheel steer mode, system is controlled according to the direction of rotation and corner size of steering wheel
System, obtains the left position of three-position four-way electromagnetic directional valve 20 or right position electric, realizes front-wheel steer；When selection rear-axle steering mould
When formula, system is controlled according to the direction of rotation and corner size of steering wheel, only makes three-position four-way electromagnetic directional valve 21
Left position or right position obtain electric, realization rear-axle steering；When selecting the concentric steering pattern of four-wheel, system is according to the rotation side of steering wheel
It is controlled to corner size, so that the left position of three-position four-way electromagnetic directional valve 20 and 21 or right position obtain electric, realization simultaneously
Four-wheel turns to one heart, and the turning radius that four-wheel turns to one heart is minimum, and front and back wheel rut is consistent, reduces dilatory wheel to field face
Damage；When selecting four-wheel crab type steering pattern, system is controlled according to the direction of rotation and corner size of steering wheel, so that
The left position of three-position four-way electromagnetic directional valve 20 and the right position of three-position four-way electromagnetic directional valve 21 simultaneously must be electric, or make three four
The right position of electric change valve 20 and the left position of three-position four-way electromagnetic directional valve 21 simultaneously must be electric, realize that four-wheel crab type turns to, and four
Wheel crab type steering is often used in tractor high speed transition job state, and frequency of use is lower.
Fig. 3 is the control flow chart of ramp Adaptable System, and referring to Fig. 3, ramp Adaptable System control method is to dragging
Machine drawing carries out the leveling control of vehicle frame during ramp driving, and the detecting element of the system is mounted in the horizontal biography on vehicle frame
Sensor and the displacement sensor for being mounted on hydraulic cylinder piston rod, horizon sensor are mounted on outermost two cross of tractor frame beam
Liang Shang, for the horizon sensor by the data feedback tested to central controller, central controller judges tractor upper
Slope or descending judge each if tractor is going up a slope according to the data for the displacement sensor for being mounted on hydraulic cylinder piston rod
The stretching situation of hydraulic cylinder piston rod, control system finally determine that leveling scheme is that 3-position 4-way proportional reversing valve 43,44 is right
Position simultaneously it is electric or by 3-position 4-way proportional reversing valve 45,46 left positions simultaneously it is electric, the former is to turn down tractor front end, after
Person is that tractor rear end is turned up；If tractor is in descending, according to the number for the displacement sensor for being mounted on hydraulic cylinder piston rod
It is judged that the stretching situation of each hydraulic cylinder piston rod, control system finally determines that leveling scheme is that 3-position 4-way ratio commutates
Valve 43,44 left positions simultaneously it is electric or by 3-position 4-way proportional reversing valve 45,46 right positions simultaneously it is electric, the former is will be before tractor
End is turned up, and the latter is to turn down tractor rear end.Vehicle frame leveling finally can be achieved.When machine is from ramp driving to grading roads
When, the equal retraction of piston rod of 4 frame hydraulic cylinders 51,52,53,54, so that overhang is zero.
Fig. 4 is the control flow chart of lifting, horizontal copying system and intelligent seeding system.Referring to fig. 4, lifting, horizontal liquid
Pressure copying system control method is mainly that the agricultural machinery utensil mounted to tractor is adjusted control, and the raise-lower hydraulic is imitative
The detecting element of shape system is contactless range sensor, be used for real-time detection mount equipment to ground vertical range,
When causing the distance to be greater than the set value due to surface relief, the right position of three-position four-way electromagnetic directional valve 24 obtains electric, lifting hydraulic cylinder
29 rod chamber oil inlets, hydraulic cylinder 29 decline, until workpiece is adjusted to target value；When causing this apart from small due to surface relief
When setting value, 24 left position of three-position four-way electromagnetic directional valve obtains electric, 29 rodless cavity oil inlet of lifting hydraulic cylinder, and hydraulic cylinder 29 rises,
Until workpiece is adjusted to target value.When system does not adjust, position is accessed in three-position four-way electromagnetic directional valve 24, and system is unloaded
Lotus, lifting hydraulic cylinder 29 are fixed locked by hydraulic control one-way valve 26.The detecting element of the horizontal hydraulic pressure copying system is horizontal
Sensor, the horizon sensor are mounted on the workpiece of mounting, for detecting the level of mounted workpiece
Degree, when run-off the straight, the right position of three-position four-way electromagnetic directional valve 25 or left position obtain electric, and horizontal shape imitation hydraulic cylinder 28 is by institute
The workpiece of mounting is adjusted to horizontal position, when left position access, horizontal 28 left side oil inlet of shape imitation hydraulic cylinder, when right position is accessed
When, horizontal 28 right side oil inlet of shape imitation hydraulic cylinder.When the access of the middle position of three-position four-way electromagnetic directional valve 25, system unloaded is horizontal
Shape imitation hydraulic cylinder 28 is dead by fluid-control one-way valve group reversible lock.
With continued reference to Fig. 4, the control method of intelligent seeding system is mainly that the feed mechanism for seed mounted to tractor controls,
The detecting element of the intelligent seeding system is mounted in the speed probe of tractor rear wheel wheel-side motor, straight in conjunction with rear-wheel
The revolving speed that diameter will test is converted into the actual travel speed of tractor, while changing ratio based on application rate set by user
Speed governing valve 31 controls the size of electric current, realizes that sowing wheel speed is automatically adjusted with travel speed and the target amount of broadcasting.Work as tractor
When travel speed is fast, the control electric current of proportional velocity regulating valve 31 is larger, also larger by flow, when Running Speed of Tractor is slow
It is then opposite.
It is the preferred embodiment of the present invention above, those of ordinary skill in the art can also carry out various changes on this basis
It changes or improves, under the premise of not departing from the present invention total design, these transformation or improve all should belong to that the present invention claims guarantors
Within the scope of shield.
Claims (5)
1. a kind of hydraulic transmission control system of Hills tractor, it is characterised in that：
It include travel driving system including Hydraulic Power Transmission System, multi-mode steering system, lifting, horizontal copying system are intelligently broadcast
Kind system, ramp Adaptable System；Control centre of the central controller as above-mentioned each system；
Travel driving system has the speed probe being separately mounted on the output shaft of four wheel-side motors, monitors wheel-side motor
Whether skid；Central controller is connect with the signals of rotational speed sensor, when skidding, between adjacent wheel-side motor
2/2-way solenoid directional control valve obtains electric, and the flow of four wheel-side motors is according to proportional allocations；
Multi-mode steering system has the angular transducer monitored for steering wheel angle, central controller and the angular transducer
Signal connection, front-wheel steer oil cylinder (22) are connect with three-position four-way electromagnetic directional valve one (20), rear-axle steering oil cylinder (23) and three
Position four-way electromagnetic reversing valve two (21) connects, the left and right electricity that central controller passes through two three-position four-way electromagnetic directional valves of control
Position obtains electric/power loss, acts to control front-wheel steer oil cylinder (22) and rear-axle steering oil cylinder (23), realizes different steering patterns；
Ramp Adaptable System has the horizon sensor being mounted on the crossbeam of vehicle frame two sides, and is mounted on hydraulic cylinder piston rod
Displacement sensor,
Central controller is connect with the horizon sensor, displacement transducer signal, the frame hydraulic in tractor four corners orientation
Cylinder is connect with respective 3-position 4-way proportional reversing valve respectively, central controller by horizon sensor monitor value know upward slope or
Descending state, and by the monitor value of displacement sensor, judge the stretching situation of each hydraulic cylinder piston rod, and should by control
Four 3-position 4-way proportional reversing valves obtain electric/power loss, to control the frame hydraulic cylinder movement in four corners orientation, realize vehicle frame tune
It is flat；
Lifting, horizontal copying system have the contactless range sensor being arranged on mounting workpiece, the Distance-sensing
Device is connect with central controller signal, and real-time detection workpiece has the vertical range to ground, three-position four-way electromagnetic directional valve
Three (24) are connect with lifting shape imitation hydraulic cylinder (29), and three-position four-way electromagnetic directional valve four (25) and horizontal shape imitation hydraulic cylinder (28) are even
It connects；Central controller obtains electric/power loss by controlling three-position four-way electromagnetic directional valve three (24) left and right current potential, adjusts raise-lower hydraulic
Cylinder (29) drives workpiece to object height value to target value；Central controller is changed by controlling 3-position 4-way electromagnetism
Electric/power loss is obtained to the left and right current potential of valve four (25), adjusts horizontal shape imitation hydraulic cylinder (28) to target level position；
Intelligent seeding system has the speed probe for being mounted on tractor rear wheel wheel-side motor, and central controller detects the revolving speed
Sensor signal, rear wheel rotation side motor rotary speed is corresponding with Running Speed of Tractor, and central controller is by changing proportional velocity regulating valve
(31) electric current, to adjust the revolving speed of sowing drive motor (32).
2. a kind of control method of the hydraulic transmission control system of Hills tractor described in claim 1, feature exist
In：
By central controller controls, hoofing part and multi-mode to tractor turn for travel driving system and multi-mode steering system
Switching to system is controlled, and the two cooperates；The detecting element of travel driving system is 4 speed probes, respectively
It is mounted on the output shaft of four wheel-side motors, is mainly used for real-time detection wheel-side motor revolving speed；When not skidding, three
2/2-way solenoid directional control valve (6,7,8) power-off, the flow of four wheel-side motors freely distributes, when skidding, three two
Two electric change valves of position (6,7,8) must be electric, and the flow of four wheel-side motors is according to proportional allocations, so that machine restores again
Driving capability；
When tractor does not skid and needs to turn to, central controller switches to multi-mode steering system, 4 kinds of steering patterns
It is that front-wheel steer, rear-axle steering, four-wheel turn to one heart and four-wheel crab type turns to respectively；When selecting front-wheel steer mode, system root
Controlled according to the direction of rotation and corner size of steering wheel, only make three-position four-way electromagnetic directional valve one (20) left position or
Right position obtains electric, realization front-wheel steer；When selecting rear-axle steering pattern, direction of rotation and corner of the central controller according to steering wheel
Size is controlled, and obtains the left position of three-position four-way electromagnetic directional valve two (21) or right position electric, realizes rear-axle steering；When
When selecting the concentric steering pattern of four-wheel, central controller is controlled according to the direction of rotation and corner size of steering wheel, so that
The left position and/or right position of three-position four-way electromagnetic directional valve one (20) and three-position four-way electromagnetic directional valve two (21) obtain electric, realization four
Wheel turns to one heart；When selecting four-wheel crab type steering pattern, direction of rotation and corner size of the central controller according to steering wheel
It is controlled, so that the left position of three-position four-way electromagnetic directional valve one (20) and the right position of three-position four-way electromagnetic directional valve two (21) are same
Shi get electricity, or make the right position of three-position four-way electromagnetic directional valve one (20) and the left position of three-position four-way electromagnetic directional valve two (21)
Electric, realization four-wheel crab type steering is obtained simultaneously.
3. control method as claimed in claim 2, it is characterised in that：
Ramp Adaptable System carries out the leveling control of vehicle frame, the detecting element of the system to tractor during ramp driving
The horizon sensor being mounted on vehicle frame and the displacement sensor for being mounted on hydraulic cylinder piston rod, horizon sensor quantity is 2
It is a, it is separately mounted on the outermost crossbeam of tractor frame beam, the horizon sensor is by the data feedback tested to center
Controller, central controller judge tractor in upward slope or descending；
If tractor is going up a slope, the stretching situation of each hydraulic cylinder piston rod is judged by the data of displacement sensor, is controlled
System finally determines that leveling scheme is simultaneously must be electric or by three by the right position of 3-position 4-way proportional reversing valve one, two (43,44)
(the 45,46) left position of four-way proportional reversing valve three, four obtains electric simultaneously；If tractor judges each hydraulic cylinder piston rod in descending
Stretching situation, central controller finally determine leveling scheme be that 3-position 4-way proportional reversing valve one, two (43,44) left position is same
Shi get electricity or by 3-position 4-way proportional reversing valve three, four (45,46) right position simultaneously it is electric, it is final to realize vehicle frame leveling；When dragging
When machine drawing is from ramp driving to grading roads, the piston rod of 4 frame hydraulic cylinders (51,52,53,54) is entirely retracted to.
4. control method as claimed in claim 2, it is characterised in that：
Lifting, horizontal hydraulic pressure copying system are adjusted control to the agricultural machinery utensil mounted to tractor：
The detecting element of raise-lower hydraulic copying system is contactless range sensor, is used for real-time detection and mounts equipment to ground
The vertical range in face；When causing the distance to be greater than the set value due to surface relief, three-position four-way electromagnetic directional valve three (24) is right
Position must be electric, and lifting hydraulic cylinder (29) is automatically adjusted to target value；When causing the distance to be less than setting value due to surface relief, three
Position four-way electromagnetic reversing valve three (24) left position obtains electric, and lifting hydraulic cylinder (29) is automatically adjusted to target value；When system does not adjust,
Position is accessed in three-position four-way electromagnetic directional valve three (24), system unloaded, and lifting hydraulic cylinder (29) is fixed locked；
The detecting element of horizontal hydraulic pressure copying system is horizon sensor, and the horizon sensor is mounted on the workpiece of mounting
On, for detecting the horizontality of mounted workpiece, when run-off the straight, three-position four-way electromagnetic directional valve four (25)
Right position or left position obtain electric, and the workpiece mounted is adjusted to horizontal position by the horizontal profiling of hydraulic cylinder (28), when three four
When the middle position access of electric change valve four (25), system unloaded, horizontal shape imitation hydraulic cylinder (28) is two-way by fluid-control one-way valve group
It is locked.
5. control method as claimed in claim 2, it is characterised in that：
Intelligent seeding system is controlled the feed mechanism for seed of tractor mounting, and the detecting element of the intelligent seeding system is
It is mounted on the speed probe of tractor rear wheel wheel-side motor, the reality of tractor is converted into conjunction with the revolving speed that rear wheel diameter will test
Border travel speed, while the size that proportional velocity regulating valve (31) control electric current is changed based on application rate set by user, it realizes
Wheel speed is sowed as travel speed and the target amount of broadcasting automatically adjust.
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| CN108843635B CN108843635B (en) | 2023-10-17 |
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| CN108843635B (en) | 2023-10-17 |
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