CN114607512A - Engine rotating speed control method, controller and tractor - Google Patents
Engine rotating speed control method, controller and tractor Download PDFInfo
- Publication number
- CN114607512A CN114607512A CN202210414527.3A CN202210414527A CN114607512A CN 114607512 A CN114607512 A CN 114607512A CN 202210414527 A CN202210414527 A CN 202210414527A CN 114607512 A CN114607512 A CN 114607512A
- Authority
- CN
- China
- Prior art keywords
- engine
- value
- request value
- control
- rotating speed
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Images
Classifications
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D31/00—Use of speed-sensing governors to control combustion engines, not otherwise provided for
- F02D31/001—Electric control of rotation speed
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D29/00—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto
- F02D29/02—Controlling engines, such controlling being peculiar to the devices driven thereby, the devices being other than parts or accessories essential to engine operation, e.g. controlling of engines by signals external thereto peculiar to engines driving vehicles; peculiar to engines driving variable pitch propellers
-
- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F02—COMBUSTION ENGINES; HOT-GAS OR COMBUSTION-PRODUCT ENGINE PLANTS
- F02D—CONTROLLING COMBUSTION ENGINES
- F02D41/00—Electrical control of supply of combustible mixture or its constituents
- F02D41/02—Circuit arrangements for generating control signals
- F02D41/04—Introducing corrections for particular operating conditions
- F02D41/045—Detection of accelerating or decelerating state
Landscapes
- Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Mechanical Engineering (AREA)
- General Engineering & Computer Science (AREA)
- Combined Controls Of Internal Combustion Engines (AREA)
- Control Of Vehicle Engines Or Engines For Specific Uses (AREA)
Abstract
The invention relates to an engine rotating speed control method, a controller and a tractor, wherein a control rotating speed request value is obtained by calculation according to a local engine rotating speed request value and a head management engine rotating speed control command, and an engine is controlled to work by using the control rotating speed request value; when the engine speed control command of the local engine management is not enabled, controlling the rotating speed request value as a local engine speed request value; when the ground management engine rotating speed control command is enabled, controlling the rotating speed request value to be the ground management engine rotating speed request value; when the engine control command of the local engine management is changed from enabling to disabling, if the change value of the local engine rotating speed request value exceeds a preset value, the rotating speed request value is controlled to be the local engine rotating speed request value, otherwise, the rotating speed request value is controlled to keep the original value unchanged; by using the control method, the requirement of the tractor ground management function can be effectively met and the running safety of the tractor is ensured.
Description
Technical Field
The invention belongs to the field of electronic control of tractors, and particularly relates to an engine rotating speed control method, a controller and a tractor.
Background
Modern tractors are equipped with electronically controlled engines, and the conventional engine speed control method is that a driver operates a hand throttle or a foot throttle connected to an engine electronic control unit to obtain the required engine speed by changing the position of the throttle. With the increase of the electric control function of the tractor, the requirement for controlling the tractor cannot be met by simply controlling the engine speed by the method, and for example, the functions of managing the ground of the tractor and the like also need to control the engine speed. In the case where a plurality of engine speed control requests coexist, these speed control requests need to be selected or calculated so as to obtain a final control speed. The traditional arbitration method for the request of the engine speed is generally that the designated signal takes precedence or the engine speed is higher, and the methods can not meet the requirement of the control function.
Disclosure of Invention
In order to solve the technical problems in the prior art, the invention aims to provide a method for controlling the rotating speed of an engine of a tractor, a corresponding controller and the tractor, so as to meet the requirements of a ground management control system and ensure the running safety of the tractor.
In order to achieve the purpose, the invention adopts the technical scheme that:
an engine speed control method, according to local engine speed request value, the control speed request value is calculated according to the engine speed control command of head management, the engine is controlled to work by using the control speed request value, the head management engine speed control command includes the engine control enabling command of head management and the engine speed request value of head management, the control method is concretely:
when the engine control enabling command of the local head management engine is not enabled, controlling the rotating speed request value to be the local engine rotating speed request value; when the engine control enabling command of the head management engine is enabled and the requested value of the head management engine speed is an effective value, controlling the requested value of the speed to be the requested value of the head management engine speed;
when the head management engine control enabling command is changed from enabling to disabling, the control rotating speed request value maintains the head management engine rotating speed request value when the head management engine control enabling command is enabling;
after the local head management engine control enable command is changed from enable to disable, if a change value of the local engine speed request value exceeds a preset value, the control speed request value is the local engine speed request value.
The effective value is obtained when the requested value of the engine speed of the head management is not more than the set value of the maximum value, and the invalid value is obtained when the requested value of the engine speed of the head management is more than the set value of the maximum value: when the head management engine control enable command is enabled and the head management engine speed request value is an invalid value, determining the control speed request value according to the following method:
if the local engine rotating speed request value is not higher than the current rotating speed value of the engine, controlling the rotating speed request value to be the local engine rotating speed request value;
the control speed request value is the engine current speed value if the local engine speed request value is higher than the engine current speed value, and the control speed request value is the local engine speed request value when a change value of the local engine speed request value exceeds a set value.
The local engine speed request value is calculated from the hand throttle and/or foot throttle position.
A controller for executing the above-described engine speed control method.
A tractor comprises the controller.
Has the advantages that: the control method of the invention, when the control command of the engine speed of the head management is not enabled, the request value of the control speed is the request value of the local engine speed; when the head management engine speed control command is enabled, the control speed request value is the head management engine speed request value. When the engine control command of the local engine management is changed from enabling to disabling, if the change value of the local engine rotating speed request value exceeds a preset value, the rotating speed request value is controlled to be the local engine rotating speed request value, otherwise, the rotating speed request value is controlled to keep the original value unchanged; the requirement of the ground management function on the control of the rotating speed of the engine can be met, and the rotating speed of the engine cannot be changed accidentally after the command of the local management on the rotating speed of the engine fails, so that the operation safety of the tractor is ensured.
Drawings
FIG. 1 is a flow diagram of a routine for processing an overhead management engine control enable command in an embodiment of the present invention.
Fig. 2 is a flowchart of a routine of processing for header management of an effective value of an engine speed request value in the embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings. The embodiments described by referring to the drawings are exemplary only for the purpose of illustrating the present invention and are not to be construed as limiting the present invention.
The invention provides a tractor engine rotating speed control method, which is characterized in that a control rotating speed request value is obtained by calculation according to a local engine rotating speed request value and a head management engine rotating speed control command, and an engine is controlled to work by using the control rotating speed request value.
The local engine speed request value is calculated by the position of the hand throttle and/or the foot throttle.
The head management engine rotating speed control command comprises a head management engine control enabling command and a head management engine rotating speed request value; the head management engine control enable command is enabled or disabled; the effective value is set when the request value of the engine speed of the head management is not more than the set value of the maximum value, and the invalid value is set when the request value of the engine speed of the head management is more than the set value of the maximum value.
The control method comprises the following steps:
when the engine control enabling command of the local head management engine is not enabled, controlling the rotating speed request value to be a local rotating speed request value; when the head management engine control enable command is enabled and the head management engine speed request value is a valid value, the control speed request value is the head management engine speed request value.
When the head management engine control enable command is changed from enable to disable, the control rotational speed request value maintains the head management engine rotational speed request value when the head management engine control enable command is enabled.
After the local head management engine control enable command is changed from enable to disable, if a change value of the local engine speed request value exceeds a preset value, the control speed request value is the local engine speed request value.
When the head management engine control enable command is enabled and the head management engine speed request value is an invalid value, determining the control speed request value according to the following method:
if the local engine rotating speed request value is not higher than the current rotating speed value of the engine, controlling the rotating speed request value to be the local engine rotating speed request value;
if the local engine rotating speed request value is higher than the current engine rotating speed value, controlling the rotating speed request value to be the current engine rotating speed value;
and if the change value of the local engine speed request value exceeds the set value, controlling the speed request value to be the local engine speed request value.
The invention also provides a controller for executing the control method and a tractor comprising the controller.
Embodiments of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is a flow diagram of a routine for the processing of an overhead management engine control enable command in an embodiment of the present invention.
First, it is determined in step S101 whether the head management engine control enable command is enabled; if the head management engine control enable command is not enabled, step S103 is executed to use the local engine speed request value as the control speed request value. If the head management engine control enable command is enabled, step S105 is executed to use the head management engine speed request value as the control speed request value.
The local engine rotating speed request value is calculated by the positions of a hand throttle and a foot throttle, and the positions of the hand throttle and the foot throttle CAN be from CAN bus signals of an engine electronic control unit and CAN also be from analog input of a controller.
After step S105 is executed, it is determined in step S107 whether the head management engine control enable command is disabled, and if the head management engine control enable command is not disabled, the step S105 is continuously executed; if the head management engine control enable command is not enabled, executing step S113; the control revolution speed request value at this time is the headland management engine revolution speed request value before the headland management engine control enable command becomes disable and remains unchanged.
In step S113, it is determined whether or not the change value of the local engine speed request value is greater than the set value. If the change value of the local engine rotating speed request value is not larger than the set value, continuing to execute the step S113, and controlling the rotating speed request value to be kept unchanged; if the change value of the local engine speed request value is greater than the set value, step S117 is executed to use the local speed request value as the control speed request value.
The engine is controlled to operate using the control rotation speed request value.
Fig. 2 is a flowchart of a routine of processing for header management of an effective value of an engine speed request value in the embodiment of the present invention.
In step S201, it is determined whether the head management engine control enable command is enabled. If the head management engine control enable command is enabled, step S203 is executed.
In step S203, it is determined whether the head management engine speed request value is invalid. If the head management engine speed request value is invalid, step S206 is executed.
In step S206, it is determined whether the local engine speed request value is not higher than the current engine speed value. If the local engine speed request value is not higher than the current engine speed value, step S209 is performed to use the local engine speed request value as the control speed request value. If the local engine speed request value is higher than the engine current speed value, step S213 is performed, the engine current speed is used as the control speed request value, and then step S216 is performed.
In step S216, it is determined whether the change value of the local engine speed request value is greater than the set value. If the change value of the local engine speed request value is not greater than the set value, step S206 is executed. If the change value of the local engine speed request value is greater than the set value, step S219 is executed to use the local speed request value as the control speed request value.
The engine is controlled to operate using the control rotation speed request value.
Depending on various conditions of use, in some cases including, but not limited to, a head management function failure, a communication failure, etc., when the head management engine control enable command is changed from enable to disable, the method of the routine of the process of the effective value of the head management engine speed request value in the embodiment of the present invention is also used.
Another embodiment of the present invention further provides a controller, wherein the controller executes the engine speed control method according to any of the above embodiments, and details of specific embodiments thereof refer to the above description and are not repeated.
The invention also provides a tractor comprising the controller, and the controller is used for executing the engine speed control method in any embodiment.
The control method of the invention fully considers the requirements of the ground management control system, and maintains the control rotating speed of the ground management control system after the ground management control enabling is cancelled until the position of the accelerator is changed; when the ground management control rotating speed value is invalid, the lower one of the current rotating speed and the accelerator request rotating speed is selected as the control rotating speed; by using the control method, the requirement of the ground management function on the control of the rotating speed of the engine can be met, and the rotating speed of the engine cannot be changed accidentally after the command of the local management on the rotating speed of the engine fails, so that the running safety of the tractor is ensured.
Although the embodiments of the present invention have been shown and described, it is understood that the embodiments are illustrative and not restrictive, and that those skilled in the art may change, modify, replace and modify the embodiments within the scope of the present invention.
Claims (5)
1. An engine speed control method is characterized in that a control speed request value is obtained through calculation according to a local engine speed request value and a head management engine speed control command, the engine is controlled to work by using the control speed request value, the head management engine speed control command comprises a head management engine control enabling command and a head management engine speed request value, and the control method specifically comprises the following steps:
when the engine control enabling command of the head management engine is disabled, controlling the rotating speed request value to be a local engine rotating speed request value; when the engine control enabling command of the head management engine is enabled and the requested value of the head management engine speed is an effective value, controlling the requested value of the speed to be the requested value of the head management engine speed;
when the head management engine control enabling command is changed from enabling to disabling, the control rotating speed request value maintains the head management engine rotating speed request value when the head management engine control enabling command is enabling;
after the local head management engine control enable command is changed from enable to disable, if a change value of the local engine speed request value exceeds a preset value, the control speed request value is the local engine speed request value.
2. The engine speed control method according to claim 1, characterized in that: the effective value is obtained when the request value of the engine rotating speed of the head management is not more than the set value of the maximum value, and the invalid value is obtained when the request value of the engine rotating speed of the head management is more than the set value of the maximum value: when the head management engine control enable command is enabled and the head management engine speed request value is an invalid value, determining the control speed request value according to the following method:
if the local engine rotating speed request value is not higher than the current rotating speed value of the engine, controlling the rotating speed request value to be the local engine rotating speed request value;
the control speed request value is the engine current speed value if the local engine speed request value is higher than the engine current speed value, and the control speed request value is the local engine speed request value when a change value of the local engine speed request value exceeds a set value.
3. An engine speed control method as claimed in claim 1, wherein the local engine speed request value is calculated from hand throttle and/or foot throttle positions.
4. A controller characterized by being configured to execute the engine speed control method according to any one of claims 1 to 3.
5. A tractor characterized in that it comprises a controller according to claim 4.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210414527.3A CN114607512B (en) | 2022-04-20 | 2022-04-20 | Engine rotating speed control method, controller and tractor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202210414527.3A CN114607512B (en) | 2022-04-20 | 2022-04-20 | Engine rotating speed control method, controller and tractor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN114607512A true CN114607512A (en) | 2022-06-10 |
| CN114607512B CN114607512B (en) | 2023-03-10 |
Family
ID=81868881
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202210414527.3A Active CN114607512B (en) | 2022-04-20 | 2022-04-20 | Engine rotating speed control method, controller and tractor |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN114607512B (en) |
Citations (20)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03264749A (en) * | 1990-03-12 | 1991-11-26 | Kubota Corp | Engine controller for work vehicle |
| JPH0450031A (en) * | 1990-06-18 | 1992-02-19 | Isuzu Motors Ltd | Automatic cruise control device for tractor |
| JPH06307268A (en) * | 1993-04-22 | 1994-11-01 | Yanmar Agricult Equip Co Ltd | Fuel injection amount regulating device for movable agricultural machinery |
| JPH08149903A (en) * | 1994-11-29 | 1996-06-11 | Yanmar Diesel Engine Co Ltd | Engine-controlling structure in tractor |
| US5995879A (en) * | 1997-01-24 | 1999-11-30 | Caterpillar Inc. | Engine command selector and method of operating same |
| JP2001001845A (en) * | 1999-04-14 | 2001-01-09 | Deere & Co | Vehicle function control system |
| JP2003129879A (en) * | 2001-10-24 | 2003-05-08 | Yanmar Agricult Equip Co Ltd | Travel controlling method for tractor |
| JP2003184603A (en) * | 2001-12-13 | 2003-07-03 | Yanmar Agricult Equip Co Ltd | Hydraulic device for tractor |
| EP1439337A1 (en) * | 2001-10-22 | 2004-07-21 | Yanmar Agricultural Equipment Co., Ltd. | Hydraulic transmission vehicle |
| JP2006320252A (en) * | 2005-05-19 | 2006-11-30 | Yanmar Co Ltd | Travel speed controller of riding type tractor |
| US7472684B1 (en) * | 2007-11-14 | 2009-01-06 | Cnh America Llc | High low engine speed cruise control |
| KR20090124919A (en) * | 2008-05-29 | 2009-12-03 | 가부시끼 가이샤 구보다 | Engine rotation control for working vehicle |
| JP2010254139A (en) * | 2009-04-24 | 2010-11-11 | Iseki & Co Ltd | Travel controller for working vehicle |
| CN102167000A (en) * | 2011-04-18 | 2011-08-31 | 中国一拖集团有限公司 | Tractor power output control system and control method |
| CN106054683A (en) * | 2016-08-09 | 2016-10-26 | 第拖拉机股份有限公司 | Tractor head land management control system and control method thereof |
| CN106527228A (en) * | 2016-11-27 | 2017-03-22 | 雷沃重工股份有限公司 | One-click headland operation management control method for farmland operation of tractor |
| JP2018029618A (en) * | 2017-11-16 | 2018-03-01 | 株式会社クボタ | Driving support system |
| US20180209357A1 (en) * | 2015-07-16 | 2018-07-26 | Cnh Industrial America Llc | Method and Apparatus for Controlling Engine Speed of a Work Machine |
| CN109080566A (en) * | 2018-09-14 | 2018-12-25 | 第拖拉机股份有限公司 | A kind of wheeled tractor remote control system and control method |
| JP2021004586A (en) * | 2019-06-27 | 2021-01-14 | 井関農機株式会社 | Work vehicle |
-
2022
- 2022-04-20 CN CN202210414527.3A patent/CN114607512B/en active Active
Patent Citations (21)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH03264749A (en) * | 1990-03-12 | 1991-11-26 | Kubota Corp | Engine controller for work vehicle |
| JPH0450031A (en) * | 1990-06-18 | 1992-02-19 | Isuzu Motors Ltd | Automatic cruise control device for tractor |
| JPH06307268A (en) * | 1993-04-22 | 1994-11-01 | Yanmar Agricult Equip Co Ltd | Fuel injection amount regulating device for movable agricultural machinery |
| JPH08149903A (en) * | 1994-11-29 | 1996-06-11 | Yanmar Diesel Engine Co Ltd | Engine-controlling structure in tractor |
| US5995879A (en) * | 1997-01-24 | 1999-11-30 | Caterpillar Inc. | Engine command selector and method of operating same |
| JP2001001845A (en) * | 1999-04-14 | 2001-01-09 | Deere & Co | Vehicle function control system |
| EP1439337A1 (en) * | 2001-10-22 | 2004-07-21 | Yanmar Agricultural Equipment Co., Ltd. | Hydraulic transmission vehicle |
| JP2003129879A (en) * | 2001-10-24 | 2003-05-08 | Yanmar Agricult Equip Co Ltd | Travel controlling method for tractor |
| JP2003184603A (en) * | 2001-12-13 | 2003-07-03 | Yanmar Agricult Equip Co Ltd | Hydraulic device for tractor |
| JP2006320252A (en) * | 2005-05-19 | 2006-11-30 | Yanmar Co Ltd | Travel speed controller of riding type tractor |
| US7472684B1 (en) * | 2007-11-14 | 2009-01-06 | Cnh America Llc | High low engine speed cruise control |
| KR20090124919A (en) * | 2008-05-29 | 2009-12-03 | 가부시끼 가이샤 구보다 | Engine rotation control for working vehicle |
| JP2009287470A (en) * | 2008-05-29 | 2009-12-10 | Kubota Corp | Engine speed setting structure of working vehicle |
| JP2010254139A (en) * | 2009-04-24 | 2010-11-11 | Iseki & Co Ltd | Travel controller for working vehicle |
| CN102167000A (en) * | 2011-04-18 | 2011-08-31 | 中国一拖集团有限公司 | Tractor power output control system and control method |
| US20180209357A1 (en) * | 2015-07-16 | 2018-07-26 | Cnh Industrial America Llc | Method and Apparatus for Controlling Engine Speed of a Work Machine |
| CN106054683A (en) * | 2016-08-09 | 2016-10-26 | 第拖拉机股份有限公司 | Tractor head land management control system and control method thereof |
| CN106527228A (en) * | 2016-11-27 | 2017-03-22 | 雷沃重工股份有限公司 | One-click headland operation management control method for farmland operation of tractor |
| JP2018029618A (en) * | 2017-11-16 | 2018-03-01 | 株式会社クボタ | Driving support system |
| CN109080566A (en) * | 2018-09-14 | 2018-12-25 | 第拖拉机股份有限公司 | A kind of wheeled tractor remote control system and control method |
| JP2021004586A (en) * | 2019-06-27 | 2021-01-14 | 井関農機株式会社 | Work vehicle |
Non-Patent Citations (4)
| Title |
|---|
| 王东青: "从2009汉诺威国际农机展看国外拖拉机技术的发展(下)", 《拖拉机与农用运输车》 * |
| 王聪玲: "约翰迪尔7M-2204拖拉机自动功能的理解和应用", 《农村科技》 * |
| 郭富强等: "一种设定发动机高低转速的控制策略", 《拖拉机与农用运输车》 * |
| 郭富强等: "基于速比调节的PTO恒转速控制策略研究", 《拖拉机与农用运输车》 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN114607512B (en) | 2023-03-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN109050347B (en) | Control method of multifunctional permanent magnet synchronous range extender | |
| US7489994B2 (en) | Control system for movable body | |
| CN105626279B (en) | The energy-saving control method and system of engine speed | |
| CN112208526A (en) | Cruise control method and device, vehicle and storage medium | |
| EP3699698B1 (en) | Method and device for processing control parameter, and storage medium | |
| CN113202642B (en) | Engine rotating speed control method and device for engineering machinery and engineering machinery | |
| CN114607512B (en) | Engine rotating speed control method, controller and tractor | |
| CN108757199B (en) | Redundancy control method of electronic fuel injection engine control device | |
| CN114572209A (en) | Vehicle cruise control method and system | |
| JP4998172B2 (en) | Vehicle control device | |
| CN114954416A (en) | Vehicle control method and device, storage medium, electronic equipment and vehicle | |
| CN108082006B (en) | Motor controller working state control method and device, controller and electric automobile | |
| JP2003513192A (en) | Engine torque control apparatus and method | |
| CN109252970B (en) | Engine rotating speed control method, engine and vehicle | |
| CN109595204B (en) | Variable pump hydraulic system, control method thereof and crane | |
| JP2001349229A (en) | Control method and device for driving unit of vehicle | |
| CN116517711A (en) | Engine control method, device, unit and storage medium | |
| CN112092639A (en) | Torque distribution control method and system for double-motor vehicle | |
| CN113581283A (en) | Steering wheel control method, device, equipment and medium | |
| CN108678862A (en) | Throttle control system and its control method for engineering machinery | |
| CN211006836U (en) | Safety type handle steering control system of loader | |
| CN112776613B (en) | Method, system, controller and agricultural machine for improving starting capability of agricultural machine | |
| CN115263572B (en) | Vehicle, engine noise reduction control method and related equipment | |
| CN114572014B (en) | Equipment control method, device, electronic equipment and storage medium | |
| CN114876647B (en) | Method and system for automatically executing warm-up of aero-engine |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |