CN114793516A - Tractor, active damping control method and system for agricultural implement and tractor - Google Patents
Tractor, active damping control method and system for agricultural implement and tractor Download PDFInfo
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- CN114793516A CN114793516A CN202210424868.9A CN202210424868A CN114793516A CN 114793516 A CN114793516 A CN 114793516A CN 202210424868 A CN202210424868 A CN 202210424868A CN 114793516 A CN114793516 A CN 114793516A
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- 238000013016 damping Methods 0.000 title claims abstract description 148
- 238000000034 method Methods 0.000 title claims abstract description 20
- 238000001228 spectrum Methods 0.000 claims abstract description 42
- 230000035939 shock Effects 0.000 claims abstract description 18
- 238000010521 absorption reaction Methods 0.000 claims abstract description 11
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- 230000006870 function Effects 0.000 description 3
- 230000009286 beneficial effect Effects 0.000 description 2
- 238000003306 harvesting Methods 0.000 description 2
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B71/00—Construction or arrangement of setting or adjusting mechanisms, of implement or tool drive or of power take-off; Means for protecting parts against dust, or the like; Adapting machine elements to or for agricultural purposes
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B51/00—Undercarriages specially adapted for mounting-on various kinds of agricultural tools or apparatus
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B59/00—Devices specially adapted for connection between animals or tractors and agricultural machines or implements
- A01B59/06—Devices specially adapted for connection between animals or tractors and agricultural machines or implements for machines mounted on tractors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F16—ENGINEERING ELEMENTS AND UNITS; GENERAL MEASURES FOR PRODUCING AND MAINTAINING EFFECTIVE FUNCTIONING OF MACHINES OR INSTALLATIONS; THERMAL INSULATION IN GENERAL
- F16F—SPRINGS; SHOCK-ABSORBERS; MEANS FOR DAMPING VIBRATION
- F16F15/00—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion
- F16F15/002—Suppression of vibrations in systems; Means or arrangements for avoiding or reducing out-of-balance forces, e.g. due to motion characterised by the control method or circuitry
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Abstract
The invention relates to the technical field of agricultural machinery shock absorption, and discloses a tractor, an agricultural machinery active shock absorption control method and system and the tractor. The method comprises the following steps: acquiring an ultrasonic signal in front of the vehicle head in real time, and acquiring a road spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signal; respectively determining the time required for the front wheels, the rear wheels and the agricultural implement wheels to reach each point on the road surface spectral curve according to the vehicle speed, the distance between the front wheel axle and the head of the vehicle, the distances between the front wheel axle and the rear wheel axle and the distances between the agricultural implement wheel axle and the front wheel axle; and respectively sending a damping control instruction to the front wheels, the rear wheels and/or a damping system of the agricultural implement when corresponding time is reached according to the road surface spectrum curve. The invention can actively apply damping measures to the front wheel, the rear wheel and the agricultural machine wheel of the tractor, effectively protect the agricultural machine and prolong the service life, and can also improve the working comfort of a driver; and the control method is simple and reliable, the requirement on hardware configuration of the controller is low, the system structure is simple, and the cost is low.
Description
Technical Field
The invention relates to the technical field of agricultural machinery damping, in particular to a tractor, an agricultural implement active damping control method and system and the tractor.
Background
The existing agricultural implement suspension device can not adjust the damping effect when the agricultural implement runs on different road surfaces. Although some products have increased spring or damping shock attenuation, also when agricultural implement has taken place to jolt, through spring or damping passive form slow down the vibration range, the shock attenuation effect is not good, can not protect agricultural implement effectively, causes agricultural implement life to reduce to can reduce driver's travelling comfort.
Disclosure of Invention
The invention aims to solve the technical problems in the prior art and provides a tractor, an agricultural implement active damping control method and system and the tractor.
In order to solve the technical problems, the invention provides an active damping control method for a tractor and an agricultural implement, which comprises the following steps: acquiring an ultrasonic signal in front of the locomotive in real time through an ultrasonic sensor arranged at the foremost end of the locomotive; acquiring a road surface spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signals; respectively determining the time required for the front wheels, the rear wheels and the agricultural implement wheels to reach each point on the road surface spectral curve according to the vehicle speed, the distance between the front wheel axle and the head of the vehicle, the distances between the front wheel axle and the rear wheel axle and the distances between the agricultural implement wheel axle and the front wheel axle; and respectively sending a damping control instruction to a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system when the corresponding time is reached according to the road surface spectrum curve.
The invention has the beneficial effects that: the invention monitors the road surface change trend at the preset distance in front of the vehicle head, accurately judges the time of the tractor and the agricultural implement passing the position according to the parameters of the vehicle speed, the wheel base and the like, regulates the signal sent to the damping system by the controller according to the road surface spectrum curve, and further realizes the active damping of the tractor and the agricultural implement by controlling the damping; not only can furthest protect agricultural implement, increase of service life can promote driver's work comfort level moreover.
On the basis of the technical scheme, the invention can be further improved as follows.
Further, a road surface spectrum curve at a preset distance in front of the vehicle head is obtained according to the ultrasonic signals, and the method comprises the following steps: and carrying out differential processing on the ultrasonic signals to obtain a road surface change trend signal, carrying out low-pass filtering processing on the road surface change trend signal, reserving the road surface change trend signal of which the absolute value is greater than the absolute value of a preset minimum limit value for the road surface change trend signal after the low-pass filtering processing, and taking the road surface change trend signal of which the absolute value is less than or equal to the absolute value of the preset minimum limit value as zero to obtain a road surface spectrum curve at a preset distance in front of the vehicle head.
The beneficial effect of adopting above-mentioned further scheme is that, carry out differential processing through ultrasonic signal to obtain the road surface trend of change, through carrying out low pass filtering to the road surface trend of change signal, be convenient for get rid of the interference signal, obtain the road surface spectral curve of locomotive the place ahead preset distance department according to the road surface trend of change, thereby realize shock attenuation control's continuity.
Further, the damping control command sent to the front wheel damping system is a first damping control command:
X1n＝F(t)+k1F'(t)；
the damping control instruction sent to the rear wheel damping system is a second damping control instruction:
X2n＝F(t)+k2F'(t)；
the damping control instruction sent to the agricultural implement damping system is a third damping control instruction:
X3n＝F(t)+k3F'(t)；
wherein F (t) is a road spectrum curve at a preset distance in front of the vehicle head, F' (t) is a differential value of F (t), and K1, K2 and K3 are constant coefficients.
In order to solve the above technical problems, the present invention provides an active damping control system for a tractor and an agricultural implement, comprising: the device comprises an ultrasonic sensor, a vehicle speed sensor, a controller and a damping system; the damping system comprises a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system;
the ultrasonic sensor is arranged at the foremost end of the headstock and is used for acquiring ultrasonic signals in front of the headstock in real time; the vehicle speed sensor is used for monitoring the vehicle speed in real time; the controller is used for obtaining a road surface spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signals; respectively determining the time required for the front wheels, the rear wheels and the agricultural implement wheels to reach each point on the road surface spectral curve according to the vehicle speed, the distance between the front wheel axle and the head of the vehicle, the distances between the front wheel axle and the rear wheel axle and the distances between the agricultural implement wheel axle and the front wheel axle; and respectively sending a damping control instruction to a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system when the corresponding time is reached according to the road surface spectrum curve.
Further, the controller is specifically configured to: and carrying out differential processing on the ultrasonic signals to obtain a road surface change trend signal, carrying out low-pass filtering processing on the road surface change trend signal, reserving the road surface change trend signal of which the absolute value is greater than the absolute value of a preset minimum limit value for the road surface change trend signal after the low-pass filtering processing, and taking the road surface change trend signal of which the absolute value is less than or equal to the absolute value of the preset minimum limit value as zero to obtain a road surface spectrum curve at a preset distance in front of the vehicle head.
Further, the damping control command sent to the front wheel damping system is a first damping control command:
X1n＝F(t)+k1F'(t)；
the damping control instruction sent to the rear wheel damping system is a second damping control instruction:
X2n＝F(t)+k2F'(t)；
the damping control instruction sent to the agricultural implement damping system is a third damping control instruction:
X3n＝F(t)+k3F'(t)；
wherein F (t) is a road spectrum curve at a preset distance in front of the vehicle head, F' (t) is a differential value of F (t), and K1, K2 and K3 are constant coefficients.
Further, the technical scheme also comprises a display and an automatic shock absorption switch which are connected with the controller.
In order to solve the technical problems, the invention provides a tractor which comprises the tractor and an agricultural implement active damping control system.
Additional aspects of the invention and its advantages will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of an active damping control method for a tractor and an agricultural implement according to an embodiment of the present invention;
fig. 2 is a road spectrum graph at a preset distance in front of the vehicle head according to an embodiment of the present invention;
FIG. 3 is a block diagram of an active damping control system for a tractor and an agricultural implement according to an embodiment of the present invention;
FIG. 4 is a flow chart of the active damping control system for the tractor and the agricultural implement according to the embodiment of the present invention.
Detailed Description
The embodiments of the present disclosure are described below with specific examples, and other advantages and effects of the present disclosure will be readily apparent to those skilled in the art from the disclosure in the specification. It is to be understood that the described embodiments are merely a subset of the disclosed embodiments and not all embodiments. The disclosure may be embodied or carried out in various other specific embodiments, and various modifications and changes may be made in the details within the description without departing from the spirit of the disclosure. It is to be noted that the features in the following embodiments and examples may be combined with each other without conflict. All other embodiments, which can be derived by a person skilled in the art from the embodiments disclosed herein without making any creative effort, shall fall within the protection scope of the present disclosure.
It is noted that various aspects of the embodiments are described below within the scope of the appended claims. It should be apparent that the aspects described herein may be embodied in a wide variety of forms and that any specific structure and/or function described herein is merely illustrative. Based on the disclosure, one skilled in the art should appreciate that one aspect described herein may be implemented independently of any other aspects and that two or more of these aspects may be combined in various ways. For example, an apparatus may be implemented and/or a method practiced using any number of the aspects set forth herein. Additionally, such an apparatus may be implemented and/or such a method may be practiced using other structure and/or functionality in addition to one or more of the aspects set forth herein.
Fig. 1 is a flow chart of an active damping control method for a tractor and an agricultural implement according to an embodiment of the invention. As shown in fig. 1, the method includes:
and S1, acquiring ultrasonic signals in front of the vehicle head in real time through the ultrasonic sensor arranged at the forefront of the vehicle head.
An ultrasonic sensor is arranged at the foremost end of the vehicle head, and an ultrasonic signal acquired by the ultrasonic sensor is sent to the controller.
And S2, obtaining a road surface spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signals.
The controller calculates sampling values at the time of Tn and T (n +1) (n is 1,2,3 … …), obtains a trend of ultrasonic signal change, namely F (n +1) -Fn, determines a minimum limit value delta Fmin of the delta Fn when the tire meets uneven ground through various road condition samples, and judges the road surface condition of the front wheel passing through by judging absolute values of the delta Fn and the delta Fmin.
And S3, respectively determining the time required for the front wheels, the rear wheels and the agricultural implement wheels to reach each point on the road surface spectral curve according to the vehicle speed, the distance between the front wheel axle and the head, the distance between the front wheel axle and the front wheel axle, the distance between the front wheel axle and the rear wheel axle and the distance between the agricultural implement wheel axle and the front wheel axle.
The distance L0 between the front axle of tractor and the front end of the head (the position of the ultrasonic sensor), the distance L1 between the front axle of tractor and the front axle of agricultural machinery, and the distance L2 between the front axle of agricultural machinery and the tractor can be input through the display. The precise matching can be carried out according to different wheelbases and different agricultural implements. The controller collects a signal Fn (n is 1,2,3 … …) of the ultrasonic sensor and a signal Wn (n is 1,2,3 … …) of the vehicle speed sensor at intervals of Δ T. When |. delta Fn | > |. delta Fmin, the front wheel is in an uneven road condition, and the controller collects the time Tn and a signal Wn of the vehicle speed sensor at the moment.
The time T1n when the front wheel reaches the road surface is Tn + L0/Wn, the time T2n when the rear wheel reaches the road surface is Tn + (L0+ L1)/Wn, and the time T3n when the agricultural implement wheel reaches the road surface is Tn + (L0+ L2)/Wn.
And S4, respectively sending a damping control instruction to the front wheel damping system, the rear wheel damping system and/or the agricultural implement damping system when the corresponding time is reached according to the road surface spectrum curve.
If the damping control instruction is sent to the damping systems of the front wheels, the rear wheels and the agricultural implement wheels at the non-zero value of the road surface spectrum curve, the damping control instruction is not sent to the damping systems at the zero value of the road surface spectrum curve, and therefore active damping of the agricultural implement is achieved.
In the embodiment, the time of the tractor and the agricultural implement passing the position is accurately judged by monitoring the road surface change trend at the preset distance in front of the vehicle head according to the parameters such as the vehicle speed, the wheel base and the like, the signal sent to the damping system by the controller is adjusted according to the road surface spectrum curve, and the active damping of the tractor and the agricultural implement is realized by controlling the damping; not only can furthest protect agricultural implement, increase of service life can promote driver's work comfort level moreover.
Optionally, in an embodiment, obtaining a road spectrum curve at a preset distance in front of a vehicle head according to the ultrasonic signal includes: and carrying out differential processing on the ultrasonic signals to obtain a road surface change trend signal, carrying out low-pass filtering processing on the road surface change trend signal, reserving the road surface change trend signal of which the absolute value is greater than the absolute value of a preset minimum limit value for the road surface change trend signal after the low-pass filtering processing, and taking the road surface change trend signal of which the absolute value is less than or equal to the absolute value of the preset minimum limit value as zero to obtain a road surface spectrum curve at a preset distance in front of the vehicle head. The road spectrum curve at the preset distance in front of the vehicle head is shown in fig. 2.
In the above embodiment, the ultrasonic signal is subjected to differential processing to obtain the road surface variation trend, the road surface variation trend signal is subjected to low-pass filtering processing to remove interference signals conveniently, and a road surface spectrum curve at a preset distance in front of the vehicle head is obtained according to the road surface variation trend, so that the continuity of the damping control is realized.
Further, the damping control command sent to the front wheel damping system is a first damping control command: x1n ═ f (t) + k1F' (t); the damping control instruction sent to the rear wheel damping system is a second damping control instruction: x2n ═ f (t) + k2F' (t); the damping control instruction sent to the agricultural implement damping system is a third damping control instruction: x3n ═ f (t) + k3F' (t); wherein F (t) is a road spectrum curve at a preset distance in front of the vehicle head, F' (t) is a differential value of F (t), and K1, K2 and K3 are constant coefficients.
In the embodiment of the invention, the road surface spectrum curve F (t) at the preset distance L in front of the vehicle head is fitted by carrying out differentiation, filtering, integration and other processing on the signals of the ultrasonic sensor, wherein L is 5-8 meters generally. According to the current tractor speed Wn, the time T1n when the front wheel of the tractor passes through a certain point on the road surface spectrum curve, the time T2n when the rear wheel passes through the road surface and the time T3n when the farm implement passes through the road surface are respectively calculated. According to the F (T) obtained by fitting, respectively sending a signal X1n to a damping system for controlling the front wheels at the time of T1n and sending a signal X2n to a damping system for controlling the rear wheels at the time of T2 n; the time T3n sends a signal X3n to a damping system that controls the implement. Thereby controlling the front wheel damping system, the rear wheel damping system and the wheel damping system of the agricultural implement of the tractor. For the case of an agricultural implement without wheels (i.e., L2 ═ 0), then T3n and the corresponding calculation output are automatically reduced. And the active damping effect is realized. By the tractor based on the real-time road surface spectrum and the active damping control method and device of the agricultural implement, the service life of the agricultural implement can be effectively protected, the comfort of a driver is improved, and the working efficiency of harvesting operation can be improved.
As shown in FIG. 3, the present invention provides an active damping control system for tractors and agricultural implements, comprising: the device comprises an ultrasonic sensor, a vehicle speed sensor, a controller and a damping system; the damping system comprises a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system.
The ultrasonic sensor is arranged at the foremost end of the headstock and is used for acquiring ultrasonic signals in front of the headstock in real time; the vehicle speed sensor is used for monitoring the vehicle speed in real time; the controller is used for obtaining a road surface spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signals; respectively determining the time required for the front wheels, the rear wheels and the agricultural implement wheels to reach each point on the road surface spectral curve according to the vehicle speed, the distance between the front wheel axle and the head of the vehicle, the distances between the front wheel axle and the rear wheel axle and the distances between the agricultural implement wheel axle and the front wheel axle; and respectively sending a damping control instruction to a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system when the corresponding time is reached according to the road surface spectrum curve.
The controller is a device having signal acquisition, filtering, amplification, arithmetic processing, signal transmission, and control functions, and acquires a signal Fn (n is 1,2,3 … …) of the ultrasonic sensor and a signal Wn (n is 1,2,3 … …) of the vehicle speed sensor at intervals of Δ T. And processing and analyzing the acquired signals, fitting a road surface spectrum curve F (t) at a preset distance L from the front end of the locomotive, and sending the processed signals to a damping system. The device of the present invention can be used with existing controls on the tractor, and can also be retrofitted as a preferred configuration.
The display is a display device which is convenient for a driver to input and check key information. The device in the embodiment of the invention is connected with the controller, and can input information such as the distance L0 between the front wheel of the tractor and the foremost end of the whole tractor, the distance L1 between the front axle and the rear axle of the tractor, the distance L2 between the axle of the agricultural machinery and the front axle of the tractor and the like. The embodiment of the invention is simultaneously suitable for agricultural implements with wheels and agricultural implements without wheels, and if the agricultural implements do not have wheels, the distance L2 between the axis of the agricultural implement and the front axis of the tractor is zero. The device has a key function, and the opening and closing of the active damping control system of the tractor and the agricultural implement can be set through the key. The device of the present invention can be used with displays already installed on the tractor, and can also be later modified as a preferred configuration.
The ultrasonic sensor is an ultrasonic transmitting and receiving device installed at the front end of a tractor. In the embodiment of the invention, the device sends a wireless signal to the controller, and the controller acquires the signal of the device in real time.
The vehicle speed sensor is a device which is arranged near the flywheel housing and is used for detecting the rotating speed of the flywheel housing, and the rotating speed of an engine can be directly read for conversion. In the embodiment of the invention, the device is connected with the controller, and the controller acquires signals sent by the device in real time.
The damping system is a device installed on the whole machine and comprises a front wheel damping system, a rear wheel damping system and an agricultural implement damping system. In the embodiment of the invention, the device is connected with a controller, and the controller sends an electric signal to a damping system. The device in the embodiment of the invention can use the existing damping system on the whole machine, and can also be used as the optimal configuration for later modification.
In the embodiment of the invention, the ultrasonic sensor is additionally arranged at the front end of the tractor, after the automatic shock absorption switch is turned on, the controller can monitor the road surface change trend at the position L distance in front of the whole tractor in real time according to signals of the ultrasonic sensor, fit a road surface spectrum curve F (t), monitor the advancing speed of the whole tractor in real time, calculate and judge the acquired data, respectively calculate the time of the front wheel, the rear wheel and the wheels of the farm implements reaching the corresponding road sections, and send control signals to the damping system at the corresponding time to further control the damping size, thereby realizing active shock absorption. The embodiment of the invention not only can protect the agricultural implement to the greatest extent, prolong the service life of the agricultural implement, but also can improve the working comfort of a driver.
The active damping control system of the tractor and the agricultural implement provided by the embodiment of the invention is simpler and higher in implementability, only an ultrasonic sensor needs to be additionally arranged at the front end of the original tractor, and the controller and the damping system can be self-carried by the original tractor, so that the economic efficiency is better. And the control method is simpler and more reliable, and the requirement on the hardware configuration of the controller is lower.
Optionally, in an embodiment, the controller is specifically configured to: and carrying out differential processing on the ultrasonic signals to obtain a road surface change trend signal, carrying out low-pass filtering processing on the road surface change trend signal, reserving the road surface change trend signal of which the absolute value is greater than the absolute value of a preset minimum limit value for the road surface change trend signal after the low-pass filtering processing, and taking the road surface change trend signal of which the absolute value is less than or equal to the absolute value of the preset minimum limit value as zero to obtain a road surface spectrum curve at a preset distance in front of the vehicle head.
Further, the damping control command sent to the front wheel damping system is a first damping control command: x1n ═ f (t) + k1F' (t); the damping control instruction sent to the rear wheel damping system is a second damping control instruction: x2n ═ f (t) + k2F' (t); the damping control instruction sent to the agricultural implement damping system is a third damping control instruction: x3n ═ f (t) + k3F' (t); wherein F (t) is a road spectrum curve at a preset distance in front of the vehicle head, F' (t) is a differential value of F (t), and K1, K2 and K3 are constant coefficients.
As shown in fig. 4, the working flow chart of the active damping control system for the tractor and the agricultural implement provided by the embodiment of the invention comprises the following steps:
the method comprises the following steps: initializing parameters, wherein n is 1;
step two: the controller collects a signal Fn of the ultrasonic sensor and a signal Wn of the vehicle speed sensor;
step three: the controller fits a road surface spectrum curve F (t) of the front L of the whole vehicle;
step four: calculating the time T1n when the front wheel of the tractor passes through the road;
step five: calculating the time T2n when the rear wheel passes through the road;
step six: calculating the time T3n when the agricultural implement passes through the road;
step seven: respectively sending signals X1n to a damping system for controlling the front wheels at the time T1n according to the F (T) obtained by fitting; the time T2n is used for sending a signal X2n to a damping system for controlling the rear wheels; the T3n time sends a signal X3n to a damping system for controlling the agricultural implement;
step eight: the damping system respectively adjusts the damping of the front wheel, the rear wheel and the wheels of the agricultural implement;
step nine: completing one circulation to realize automatic shock absorption; and returning to the step two.
The active damping control system for the tractor and the agricultural implement, provided by the embodiment of the invention, has the advantages that the controller on the tractor is used for monitoring the signal Fn of the ultrasonic sensor and the signal Wn of the vehicle speed sensor in real time, so that the system is simple, convenient and reliable; the system can effectively protect the agricultural implement, prolong the service life of the agricultural implement, improve the comfort of a driver and improve the working efficiency of harvesting operation; the system has accurate control flow judgment and high practicability; the system has simple structure and simple and convenient installation, and does not influence other equipment on the tractor; the controller in the embodiment of the invention does not need a large amount of memory; the controller, the display, the vehicle speed sensor, the damping system and the switch can all use original equipment on the tractor, and can also be used as optimal configuration for later modification, so that the installation cost is low, and the input cost is low.
The embodiment of the invention also provides a tractor, which comprises the tractor and the agricultural implement active damping control system.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like that fall within the spirit and principle of the present invention are intended to be included therein.
Claims (8)
1. An active damping control method for a tractor and an agricultural implement is characterized by comprising the following steps:
acquiring an ultrasonic signal in front of the locomotive in real time through an ultrasonic sensor arranged at the foremost end of the locomotive;
acquiring a road surface spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signal;
respectively determining the time required for the front wheels, the rear wheels and the agricultural implement wheels to reach each point on the road surface spectral curve according to the vehicle speed, the distance between the front wheel axle and the head of the vehicle, the distances between the front wheel axle and the rear wheel axle and the distances between the agricultural implement wheel axle and the front wheel axle;
and respectively sending a damping control instruction to a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system when the corresponding time is reached according to the road surface spectrum curve.
2. The method according to claim 1, wherein the obtaining of the road spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signals comprises:
and carrying out differential processing on the ultrasonic signals to obtain a road surface change trend signal, carrying out low-pass filtering processing on the road surface change trend signal, reserving the road surface change trend signal of which the absolute value is greater than the absolute value of a preset minimum limit value for the road surface change trend signal after the low-pass filtering processing, and taking the road surface change trend signal of which the absolute value is less than or equal to the absolute value of the preset minimum limit value as zero to obtain a road surface spectrum curve at a preset distance in front of the vehicle head.
3. The method according to claim 1 or 2, wherein the shock absorption control command sent to the front wheel damping system is a first shock absorption control command:
X1n＝F(t)+k1F'(t)；
the damping control instruction sent to the rear wheel damping system is a second damping control instruction:
X2n＝F(t)+k2F'(t)；
the damping control instruction sent to the agricultural implement damping system is a third damping control instruction:
X3n＝F(t)+k3F'(t)；
wherein F (t) is a road spectrum curve at a preset distance in front of the vehicle head, F' (t) is a differential value of F (t), and K1, K2 and K3 are constant coefficients.
4. The utility model provides a tractor and agricultural implement initiative shock attenuation control system which characterized in that includes: the device comprises an ultrasonic sensor, a vehicle speed sensor, a controller and a damping system; the damping system comprises a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system;
the ultrasonic sensor is arranged at the foremost end of the headstock and is used for acquiring ultrasonic signals in front of the headstock in real time; the vehicle speed sensor is used for monitoring the vehicle speed in real time; the controller is used for obtaining a road spectrum curve at a preset distance in front of the vehicle head according to the ultrasonic signals; respectively determining the time required for the front wheels, the rear wheels and the agricultural implement wheels to reach each point on the road surface spectral curve according to the vehicle speed, the distance between the front wheel axle and the head of the vehicle, the distances between the front wheel axle and the rear wheel axle and the distances between the agricultural implement wheel axle and the front wheel axle; and respectively sending a damping control instruction to a front wheel damping system, a rear wheel damping system and/or an agricultural implement damping system when the corresponding time is reached according to the road surface spectrum curve.
5. The system of claim 4, wherein the controller is specifically configured to:
and carrying out differential processing on the ultrasonic signals to obtain a road surface change trend signal, carrying out low-pass filtering processing on the road surface change trend signal, reserving the road surface change trend signal of which the absolute value is greater than the absolute value of a preset minimum limit value for the road surface change trend signal after the low-pass filtering processing, and taking the road surface change trend signal of which the absolute value is less than or equal to the absolute value of the preset minimum limit value as zero to obtain a road surface spectrum curve at a preset distance in front of the vehicle head.
6. The system of claim 4 or 5, wherein the shock control command sent to the front wheel damping system is a first shock control command:
X1n＝F(t)+k1F'(t)；
the damping control instruction sent to the rear wheel damping system is a second damping control instruction:
X2n＝F(t)+k2F'(t)；
the shock absorption control instruction sent to the agricultural implement damping system is a third shock absorption control instruction:
X3n＝F(t)+k3F'(t)；
wherein F (t) is a road spectrum curve at a preset distance in front of the vehicle head, F' (t) is a differential value of F (t), and K1, K2 and K3 are constant coefficients.
7. The system of claim 4 or 5, further comprising a display and an automatic shock absorbing switch connected to the controller.
8. A tractor comprising a tractor and an agricultural implement active shock absorption control system as claimed in any one of claims 4 to 7.
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Application publication date: 20220729 |