CN115263830B - Active vibration reduction control method for tractor electro-hydraulic lifting system - Google Patents
Active vibration reduction control method for tractor electro-hydraulic lifting system Download PDFInfo
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- 238000012937 correction Methods 0.000 claims description 18
- 230000000630 rising effect Effects 0.000 claims description 14
- 238000003860 storage Methods 0.000 claims description 9
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- 238000010008 shearing Methods 0.000 claims description 3
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Classifications
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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
- F15B11/08—Servomotor systems without provision for follow-up action; Circuits therefor with only one servomotor
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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
- A01B63/00—Lifting or adjusting devices or arrangements for agricultural machines or implements
- A01B63/02—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors
- A01B63/10—Lifting or adjusting devices or arrangements for agricultural machines or implements for implements mounted on tractors operated by hydraulic or pneumatic means
-
- 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
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
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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
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/008—Reduction of noise or vibration
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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
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/02—Servomotor systems with programme control derived from a store or timing device; Control devices therefor
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- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- Fluid Mechanics (AREA)
- General Engineering & Computer Science (AREA)
- Chemical & Material Sciences (AREA)
- Analytical Chemistry (AREA)
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Lifting Devices For Agricultural Implements (AREA)
Abstract
The invention discloses an active vibration reduction control method for an electro-hydraulic lifting system of a tractor, which belongs to the technical field of control of electro-hydraulic lifting systems of tractors and comprises the following steps: acquiring a set value of a target longitudinal pressure P x0 of the machine tool; acquiring an actual lifting angle H of the machine tool and an actual transverse pulling force P Current of the machine tool, and calculating an actual longitudinal pressure P x of the machine tool; acquiring response time T, calculating the upper pressure limit P yTrigUp of the low vibration region and the lower pressure limit P yTrigDw of the low vibration region according to P x0, comparing the magnitudes of T and T hold、Px with P yTrigUp and P x and P yTrigDw, and judging whether unloading control is performed or not; the method comprises the steps of calculating the cyclic vibration deviation delta H t according to a preset tool lifting angle H target, calculating the upper limit pressure P yLimUp and the lower limit pressure P yLimDw according to P x0, and reducing the impact and vibration effects of the tool in a mode of carrying out oil supply compensation in real time, thereby solving the problems that the actual vibration effects of the tool cannot be accurately reflected by the current tractor depending on the measured pitch angle and active vibration damping action cannot be effectively triggered.
Description
Technical Field
The invention relates to an active vibration reduction control method for an electro-hydraulic lifting system of a tractor, and belongs to the technical field of control of electro-hydraulic lifting systems of tractors.
Background
As an important device for agricultural production, a tractor is required to provide enough traction force in farmland operation and transportation operation, and meanwhile, different agricultural tools are required to be hung to adapt to different operation scenes, driving comfort and safety are particularly important for transportation operation and transition process, wherein the vibration effect of the tools in the process of lifting to the highest point and transporting and transition process is an important factor for influencing the safety and comfort of the operation scenes, particularly for driving on an uneven road, the bumping effect is further aggravated, the connecting mechanism of the tractor and the tools is extremely likely to cause road damage, vehicle damage and even personal injury once the irreversible damage is generated;
In order to solve the above problem, chinese patent CN110024519a, a vibration damping method for a high horsepower tractor working unit, uses an inclination angle speed sensor to measure the pitch angle of a vehicle, and defines a dead space of the pitch angle, when the pitch angle speed of the tractor is detected to be outside the dead space, the electrohydraulic suspension valve is controlled to lift or descend, but the core data source controlled in the patent is the pitch angle of the vehicle, but the data of the pitch angle cannot represent the vibration effect of the actual implement of the vehicle, in most cases, there is no necessary connection between the pitch angle and the vibration effect of the vehicle, for example, when the vehicle is in a transportation condition, the pitch angle is relatively horizontal and in a stable fluctuation state, but the implement is likely to be in a vibration state with large amplitude at this time, and for this state, the active vibration damping action of the implement cannot be triggered.
Disclosure of Invention
The invention aims to overcome the defects in the prior art, provides an active vibration damping control method for an electro-hydraulic lifting system of a tractor, and solves the problems that the actual vibration effect of the machine cannot be accurately reflected by measuring a pitch angle of the current tractor, and active vibration damping action cannot be effectively triggered.
In order to achieve the above purpose/solve the above technical problems, the present invention is realized by adopting the following technical scheme:
an active vibration damping control method for an electro-hydraulic lifting system of a tractor, comprising:
Acquiring a set value of a target longitudinal pressure P x0 of the machine tool;
Acquiring an actual lifting angle H of the machine tool and an actual transverse pulling force P Current of the machine tool, and calculating an actual longitudinal pressure P x of the machine tool according to the actual lifting angle H of the machine tool and the actual transverse pulling force P Current of the machine tool;
Acquiring response time T, calculating the upper pressure limit P yTrigUp of the low vibration region and the lower pressure limit P yTrigDw of the low vibration region according to P x0, comparing the T with preset system maintaining time T hold、Px and P yTrigUp and the magnitudes of P x and P yTrigDw, and judging whether unloading control is performed or not;
Calculating a cyclic vibration deviation delta H t according to a preset tool lifting angle H target, and calculating an upper limit pressure P yLimUp and a lower limit pressure P yLimDw according to P x0;
comparing the delta H t with a preset expected setting value delta H minp of the cyclic vibration deviation, and if delta H t is larger than delta H minp and the duration time is larger than preset time T safep, triggering an alarm to give an alarm and closing vibration reduction; comparing the sizes of P x and P yLimUp、PyLimDw, if P x is smaller than P yLimUp or P x is larger than P yLimDw and the duration is longer than the preset time T safep, triggering an alarm and closing vibration reduction.
Further, the method for obtaining the actual lifting angle H of the implement includes the following steps:
Acquiring data of a rotation angle sensor to obtain a rotation angle alpha;
Calculating an actual lifting angle H according to the obtained rotation angle alpha;
The calculation formula of the actual lifting angle H is as follows: h=k×α; wherein,
K is a coefficient related to the length of the connecting point of each rod piece hung at three points;
Alpha ranges from 0 to 75 deg.
Further, the method for obtaining the actually measured transverse tension P Current of the tool includes the steps of:
Acquiring a real-time measured value of a tension sensor;
The actual measurement transverse tension P Current of the machine tool is obtained after filtering.
Further, the calculation formula of the actual longitudinal pressure P x of the machine tool is as follows: p x=PCurrent x tanH, unit kN.
Further, the calculation formula of the upper pressure limit P yTrigUp in the low vibration region is as follows:
PyTrigUp=（1-Kpt）*Px0；
The calculation formula of the pressure lower limit P yTrigDw in the low vibration region is as follows:
PyTrigDw=（1+Kpt）*Px0；
Wherein K pt is a correction coefficient related to the target longitudinal pressure of the machine tool, and the value range is 0-0.2;
the calculation formula of the upper limit pressure P yLimUp is as follows:
PyLimUp=（1-Kpl）*Px0；
The calculation formula of the lower limit pressure P yLimDw is as follows:
PyLimDw=（1+Kpl）*Px0；
Wherein K pl is a correction coefficient related to the target longitudinal pressure of the machine tool, and the value range is generally 0.5-1.
Further, the calculation formula of the cyclic vibration deviation Δh t is as follows:
△Ht=Hcurrentt-Htarget；
wherein H current t is the actual lifting angle of the current cycle at time t.
Further, when T is greater than T hold and the implement actual longitudinal pressure P x is less than the upper pressure limit P yTrigUp of the low vibration interval, triggering the upper unloading process control;
the method for controlling loading and unloading comprises the following steps:
The rising valve is electrified with a large current I fillup for a duration T fillup, so that the hydraulic module rapidly builds pressure;
Calculating an upper unloading current I outup;
The upper unloading current I outup is conducted to the rising valve;
The calculation formula of the loading and unloading current I outup is as follows:
I outup=Kup*（Px-PyTrigUp）+△Iup units of mA;
Wherein K up is a compensation coefficient for converting pressure controlled in the loading and unloading process into current, and the smaller the actual longitudinal pressure is, the larger the value is;
DeltaI up is a compensation value for the unloading current of the rising valve in the control of the loading and unloading process,
The calculation formula of ΔI up is:
DeltaI up=（1+Kiup*△H）*Ioutup, units mA;
Wherein Ki up is the compensation coefficient of the cyclic vibration deviation to the current, and the value range of Ki up is 0-0.05;
Δh is the sum of the cyclic vibration deviations from the start of the active vibration control to the current time, where the calculation formula of Δh at time t is:
△H=；
Triggering lower unloading process control when T is greater than T hold and the implement actual longitudinal pressure P x is greater than the lower pressure limit P yTrigDw of the low vibration interval;
the method for controlling the unloading process comprises the following steps:
The high current I filldw is led to the descending valve for the duration T filldw, so that the hydraulic module rapidly builds pressure;
Calculating a lower unloading current I outdw;
the lower unloading current I outdw is led to the descending valve;
The calculation formula of the lower unloading current I outdw is as follows:
I outdw=Kdw*（PyTrigdw-Px）+△Idw units of mA;
Wherein K dw is a compensation coefficient for converting pressure controlled by the lower unloading process into current, and the larger the actual longitudinal pressure is, the larger the value is;
Δi dw is a compensation value for the unloading current of the falling valve in the unloading process control, and the calculation formula of Δi dw is:
DeltaI dw=（1+Kidw*△H）*Ioutdw, units mA;
Wherein Ki dw is the compensation coefficient of the cyclic vibration deviation to the current, and the value range of Ki dw is 0-0.03;
When T is smaller than T hold or the actual longitudinal pressure P x of the machine is larger than the upper pressure limit P yTrigUp which is equal to the low vibration zone and smaller than the lower pressure limit P yTrigDw which is equal to the low vibration zone, unloading control is not performed; the upper unloading current I outup is 0mA, and the lower unloading current I outdw is 0mA.
Further, an upper limit amplitude H yLimUp and a lower limit amplitude H yLimDw are calculated from H targe;
The calculation formula of the upper limit amplitude H yLimUp is as follows:
HyLimUp=Htarget+（1+Kt+Kp）*Hybase；
the calculation formula of the lower limit amplitude H yLimDw is:
HyLimDw=Htarget-（1-Kt-Kp）*Hybase；
K t is an angle correction coefficient, and the larger the lifting angle of the machine tool is, the larger the value is, and the value range is 0-0.2; k p is a weight correction coefficient, and the larger the target longitudinal pressure is, the larger the value is, and the value range is 0-0.3; h ybase is a reference interval, set to 2 °;
to maintain the implement vibration within a controllable range, when H currentt>HyLimUp, the I outup value is 0mA, and the current remains 0mA during the present vibration period; when H currentt<HyLimDw, the value of I outdw is 0mA, and the current is kept at 0mA in the current vibration period;
wherein H current t is the actual lifting angle of the current cycle at time t.
Further, the value range of DeltaH minp is 2-4 degrees per cycle, and the value range of T safep is 30-50 ms.
Another object of the present invention is to provide an active vibration damping control device for an electro-hydraulic lifting system of a tractor, comprising:
The hydraulic module comprises an ascending valve, a descending valve, a hydraulic pump and an oil cylinder; the hydraulic pump is connected with the lifting valve which is connected with the oil cylinder; the oil cylinder is connected with the descending valve; the oil cylinder is connected with the machine tool through a mechanical rod piece;
the sensor module comprises a rotation angle sensor and a tension sensor;
The rotation angle sensor is used for acquiring an actual lifting angle H of the machine;
the tension sensor is used for measuring the shearing force in the horizontal direction of the connecting points of the lower pull rods at the two sides of the three-point suspension, wherein a positive value indicates that the vehicle is subjected to backward tension, and a negative value indicates that the vehicle is subjected to backward pressure;
The electric control module comprises an engine controller, a control panel and an electrohydraulic lifting controller; the control panel is integrated with an operation element related to the operation of the electro-hydraulic lifting system, and meanwhile, the control panel sends state information of the operation element to the electro-hydraulic lifting controller through the CAN bus;
the electrohydraulic lifting controller is used for receiving the relevant bus information of the engine controller, collecting all the control information of the driver and the information of various sensors, carrying out logic judgment of relevant data quantification and carrying out control output on the hydraulic module.
The invention further provides an active vibration damping control device of the tractor electro-hydraulic lifting system, which comprises a processor and a storage medium;
The storage medium is used for storing instructions;
The processor is configured to operate according to the instructions to perform the method described above.
It is a fourth object of the present invention to provide a computer readable storage medium having stored thereon a computer program which when executed by a processor implements the above-mentioned method.
Compared with the prior art, the invention has the beneficial effects that:
1. The invention reduces the impact and vibration effects of the machine tool by means of real-time oil supply compensation based on the lifting angle of the machine tool and the longitudinal pressure feedback of the machine tool, and solves the problems that the actual vibration effects of the machine tool cannot be accurately reflected by the current tractor depending on the measurement of the pitch angle, and the active vibration damping action cannot be effectively triggered.
2. The invention can determine the magnitude of the limit amplitude and correct the magnitude of unloading current according to the weights of different machines, thereby enhancing the adaptability of the system to different machines and avoiding the problem of unobvious vibration reduction effect in the transportation process of heavier machines.
3. According to the invention, through calculating the unloading current, the cyclic compensation based on the position deviation is added, so that the vibration of the machine tool near the set lifting angle can be effectively ensured, the operation intention of a driver is met, and the risk of larger deviation of the position caused by the reciprocating vibration of the machine tool is eliminated.
4. In view of the influence on the gravity acceleration in the upper unloading process and the lower unloading process, the invention performs parameter distinction and independent setting on the two processes, ensures that the effects of the upper unloading process and the lower unloading process are close, and can effectively improve the driving comfort.
Drawings
FIG. 1 is a flow chart of a method for active damping control of a tractor electro-hydraulic lift system provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of an active damping control device for a tractor electro-hydraulic lift system according to an embodiment of the present invention;
Fig. 3 is a diagram showing the actual measurement effect of an active vibration damping control method for an electro-hydraulic lifting system of a tractor according to an embodiment of the present invention.
In the figure: 1. a rising valve; 2. a descent valve; 3. a hydraulic pump; 4. an oil cylinder; 5. an implement; 6. a rotation angle sensor; 7. a tension sensor; 8. an engine controller; 9. a control panel; 10. an electrohydraulic lift controller; 11. an engine.
Detailed Description
The invention is further described below with reference to the accompanying drawings. The following examples are only for more clearly illustrating the technical aspects of the present invention, and are not intended to limit the scope of the present invention.
In the description of the present invention, it should be noted that, unless explicitly specified and limited otherwise, the terms "mounted," "connected," and "connected" are to be construed broadly, and may be either fixedly connected, detachably connected, or integrally connected, for example; can be mechanically or electrically connected; can be directly connected or indirectly connected through an intermediate medium, and can be communication between two elements. The specific meaning of the above terms in the present invention can be understood by those of ordinary skill in the art in a specific case.
Example 1
As shown in fig. 1, an active vibration damping control method for an electro-hydraulic lifting system of a tractor includes:
Acquiring a set value of a target longitudinal pressure P x0 of the machine tool;
acquiring data of a rotation angle sensor to obtain a rotation angle alpha; calculating an actual lifting angle H according to the obtained rotation angle alpha; in the embodiment, a model XT2004 tractor manufactured by Xuzhou Xujingsu industry and agriculture equipment science and technology Co., ltd is adopted as the tractor, the model tractor is a 200 horsepower 4-wheel drive tractor, the weight of the machine is 1200 kg, and the rotation angle alpha is 0-75 degrees;
the calculation formula of the actual lifting angle H is as follows: h=k×α; wherein K is a coefficient related to the length of the connecting point of each rod piece hung at three points;
acquiring a real-time measured value of a tension sensor, and filtering to obtain the actually measured transverse tension P Current of the machine;
According to the actual lifting angle H of the machine and the actual transverse pulling force P Current of the machine, the actual longitudinal pressure P x of the machine is calculated, and the calculation formula of the actual longitudinal pressure P x of the machine is as follows: p x=PCurrent x tanH, units kN;
Acquiring response time T, wherein the response time T is the response time of the pressure sensor, and calculating the upper pressure limit P yTrigUp of the low vibration interval and the lower pressure limit P yTrigDw of the low vibration interval according to P x0;
The calculation formula of the upper pressure limit P yTrigUp in the low vibration region is:
PyTrigUp=（1-Kpt）*Px0；
The calculation formula of the lower pressure limit P yTrigDw in the low vibration region is:
PyTrigDw=（1+Kpt）*Px0；
Wherein K pt is a correction coefficient related to the target longitudinal pressure of the machine tool, and the value range is 0-0.2;
Comparing the magnitudes of the T and the preset system maintenance times T hold、Px and P yTrigUp, and P x and P yTrigDw, and judging whether to perform unloading control, wherein in the embodiment, T hold =30 ms;
when T is greater than 30ms and the actual longitudinal pressure P x of the machine is less than the upper pressure limit P yTrigUp of the low vibration interval, triggering loading and unloading process control, wherein the method for loading and unloading control comprises the following steps of:
The rising valve is electrified with a large current I fillup for a duration T fillup, so that the hydraulic module rapidly builds pressure;
Calculating an upper unloading current I outup;
The upper unloading current I outup is conducted to the rising valve, and the calculation formula of the upper unloading current I outup is as follows:
I outup=Kup*（Px-PyTrigUp）+△Iup units of mA;
Wherein K up is a compensation coefficient for converting pressure controlled in the loading and unloading process into current, and the smaller the actual longitudinal pressure is, the larger the value is;
Δi up is a compensation value for the unloading current of the rising valve in the control of the loading and unloading process, and the calculation formula of Δi up is:
DeltaI up=（1+Kiup*△H）*Ioutup, units mA;
Wherein Ki up is the compensation coefficient of the cyclic vibration deviation to the current, and the value range of Ki up is 0-0.05;
Δh is the sum of the cyclic vibration deviations from the start of the active vibration control to the current time, where the calculation formula of Δh at time t is:
△H=；
triggering a lower unloading process control when T is greater than 30ms and the implement actual longitudinal pressure P x is greater than the lower pressure limit P yTrigDw of the low vibration interval;
The method for controlling the unloading process comprises the following steps:
The high current I filldw is led to the descending valve for the duration T filldw, so that the hydraulic module rapidly builds pressure;
Calculating a lower unloading current I outdw;
The following unloading current I outdw is led to the descending valve, and the calculation formula of the lower unloading current I outdw is as follows:
I outdw=Kdw*（PyTrigdw-Px）+△Idw units of mA;
Wherein K dw is a compensation coefficient for converting pressure controlled by the lower unloading process into current, and the larger the actual longitudinal pressure is, the larger the value is;
Δi dw is a compensation value for the unloading current of the falling valve in the unloading process control, and the calculation formula of Δi dw is:
DeltaI dw=（1+Kidw*△H）*Ioutdw, units mA;
Wherein Ki dw is the compensation coefficient of the cyclic vibration deviation to the current, and the value range of Ki dw is 0-0.03;
When T is less than 30ms or the actual longitudinal pressure P x of the machine is greater than or equal to the upper pressure limit P yTrigUp and less than or equal to the lower pressure limit P yTrigDw of the low vibration zone, unloading control is not performed; the upper unloading current I outup is 0mA, and the lower unloading current I outdw is 0mA;
Calculating a cyclic vibration deviation delta H t according to a preset tool lifting angle H target, wherein a calculation formula of the cyclic vibration deviation delta H t is as follows:
△Ht=Hcurrentt-Htarget；
wherein H current t is the actual lifting angle of the current cycle at time t;
Vibration deviation is upward when Δh t is positive, and vibration deviation is downward when Δh t is negative;
calculating an upper limit amplitude H yLimUp and a lower limit amplitude H yLimDw according to H targe;
the calculation formula of the upper limit amplitude H yLimUp is:
HyLimUp=Htarget+（1+Kt+Kp）*Hybase；
The calculation formula of the lower limit amplitude H yLimDw is:
HyLimDw=Htarget-（1-Kt-Kp）*Hybase；
K t is an angle correction coefficient, and the larger the lifting angle of the machine tool is, the larger the value is, and the value range is 0-0.2; k p is a weight correction coefficient, and the larger the target longitudinal pressure is, the larger the value is, and the value range is 0-0.3; h ybase is a reference interval, set to 2 °;
to maintain the implement vibration within a controllable range:
When H currentt>HyLimUp, the value of I outup is 0mA, and the current is kept at 0mA in the current vibration period;
When H currentt<HyLimDw, the value of I outdw is 0mA, and the current is kept at 0mA in the current vibration period;
Calculating an upper limit pressure P yLimUp and a lower limit pressure P yLimDw from P x0;
The calculation formula of the upper limit pressure P yLimUp is:
PyLimUp=（1-Kpl）*Px0；
the calculation formula of the lower limit pressure P yLimDw is:
PyLimDw=（1+Kpl）*Px0；
Wherein K pl is a correction coefficient related to the target longitudinal pressure of the machine tool, and the value range is generally 0.5-1;
In the present embodiment, the cyclic vibration deviation is expected to be set at Δh minp =3°, and the preset time T safep =40 ms;
if DeltaH t is larger than 3 degrees and the duration time is larger than 40ms, triggering an alarm to give an alarm and closing vibration reduction;
If P x is less than P yLimUp or P x is greater than P yLimDw and the duration is greater than 40ms, an alarm is triggered and vibration damping is turned off.
As shown in fig. 3, the calculated values of the main parameters, the actual monitoring data changes and the corresponding output falling valve current curve and rising valve current curve are all obtained within a certain period of time t; the rising valve current curve and the falling valve current curve comprise a current curve before position deviation correction and a current curve after correction;
it can be seen that when the vibration deviation value is positive, the actual output current after the correction of the falling valve is lower than the current before the correction, and the actual output current after the correction of the rising valve is higher than the current before the correction, and it can be seen that when the trigger time is lower than the ineffective trigger time, the trigger will be regarded as ineffective trigger;
Since the upward vibration is an upward movement against gravity when the implement vibrates, it is less than the longitudinal pressure when the implement is stationary (the implement target longitudinal pressure); the downward vibration is to apply pressure in the direction of gravity, so it is greater than the longitudinal pressure when the implement is stationary (the implement target longitudinal pressure); the magnitude relation of the parameter values calculated according to the above listed formulas is: the upper limit pressure < the upper limit of the low vibration region pressure < the longitudinal pressure at rest < the lower limit of the low vibration region pressure < the lower limit pressure, i.e., P yLimUp<PyTrigUp<Px0<PyTrigDw<PyLimDw.
Example two
As shown in fig. 2, an active vibration damping control device for a tractor electro-hydraulic lift system, comprising:
The hydraulic module comprises an ascending valve 1, a descending valve 2, a hydraulic pump 3 and an oil cylinder 4; the lifting valve 1 is integrated with an electromagnetic valve, the descending valve 2 is integrated with an electromagnetic valve, the hydraulic pump 3 is connected with the lifting valve 1, the lifting valve 1 is connected with the oil cylinder 4, and the oil cylinder 4 is connected with the descending valve 2; the oil cylinder 4 is connected with the machine tool 5 through a mechanical rod piece;
the sensor module comprises a rotation angle sensor 6, and the rotation angle sensor 6 is arranged on the mechanical rod piece and is used for acquiring the actual lifting angle H of the machine tool 5;
the two tension sensors 7 are arranged on the mechanical rod piece and are used for measuring the shearing force in the horizontal direction of the connecting points of the lower pull rods at the left side and the right side of the three-point suspension, wherein a positive value indicates that the vehicle is subjected to backward tension, and a negative value indicates that the vehicle is subjected to backward pressure;
The electric control module comprises an engine 11 controller 8, a control panel 9 and an electrohydraulic lifting controller 10; the engine 11 controller 8 is connected with the engine 11, and the engine 11 controller 8 is connected with the electrohydraulic lifting controller 10 through a circuit; the control panel 9 is integrated with an operation element related to the operation of the electro-hydraulic lifting system, and meanwhile, the control panel 9 sends state information of the operation element to the electro-hydraulic lifting controller 10 through a CAN bus;
The electrohydraulic lifting controller 10 is respectively connected with the rotation angle sensor 6, the tension sensor 7, the rising valve 1 and the falling valve 2; the electrohydraulic lifting controller 10 is used for receiving relevant bus information of the engine 11 controller 8, collecting all control information of a driver and information of various sensors, carrying out logic judgment of relevant data quantification and carrying out control output on the hydraulic module.
Example III
An active vibration damping control device of a tractor electro-hydraulic lifting system comprises a processor and a storage medium;
the storage medium is used for storing instructions;
the processor is operative in accordance with the instructions to perform the following method:
Acquiring a set value of a target longitudinal pressure P x0 of the machine tool;
Acquiring an actual lifting angle H of the machine tool and an actual transverse pulling force P Current of the machine tool, and calculating an actual longitudinal pressure P x of the machine tool according to the actual lifting angle H of the machine tool and the actual transverse pulling force P Current of the machine tool;
Acquiring response time T, calculating the upper pressure limit P yTrigUp of the low vibration region and the lower pressure limit P yTrigDw of the low vibration region according to P x0, comparing the T with preset system maintaining time T hold、Px and P yTrigUp and the magnitudes of P x and P yTrigDw, and judging whether unloading control is performed or not;
Calculating a cyclic vibration deviation delta H t according to a preset tool lifting angle H target, and calculating an upper limit pressure P yLimUp and a lower limit pressure P yLimDw according to P x0;
comparing the delta H t with a preset expected setting value delta H minp of the cyclic vibration deviation, and if delta H t is larger than delta H minp and the duration time is larger than preset time T safep, triggering an alarm to give an alarm and closing vibration reduction; comparing the sizes of P x and P yLimUp、PyLimDw, if P x is smaller than P yLimUp or P x is larger than P yLimDw and the duration is longer than the preset time T safep, triggering an alarm and closing vibration reduction.
Example IV
A computer readable storage medium having stored thereon a computer program which when executed by a processor performs the method of:
Acquiring a set value of a target longitudinal pressure P x0 of the machine tool;
Acquiring an actual lifting angle H of the machine tool and an actual transverse pulling force P Current of the machine tool, and calculating an actual longitudinal pressure P x of the machine tool according to the actual lifting angle H of the machine tool and the actual transverse pulling force P Current of the machine tool;
Acquiring response time T, calculating the upper pressure limit P yTrigUp of the low vibration region and the lower pressure limit P yTrigDw of the low vibration region according to P x0, comparing the T with preset system maintaining time T hold、Px and P yTrigUp and the magnitudes of P x and P yTrigDw, and judging whether unloading control is performed or not;
Calculating a cyclic vibration deviation delta H t according to a preset tool lifting angle H target, and calculating an upper limit pressure P yLimUp and a lower limit pressure P yLimDw according to P x0;
comparing the delta H t with a preset expected setting value delta H minp of the cyclic vibration deviation, and if delta H t is larger than delta H minp and the duration time is larger than preset time T safep, triggering an alarm to give an alarm and closing vibration reduction; comparing the sizes of P x and P yLimUp、PyLimDw, if P x is smaller than P yLimUp or P x is larger than P yLimDw and the duration is longer than the preset time T safep, triggering an alarm and closing vibration reduction.
The foregoing is merely a preferred embodiment of the present invention, and it should be noted that modifications and variations could be made by those skilled in the art without departing from the technical principles of the present invention, and such modifications and variations should also be regarded as being within the scope of the invention.
Claims (12)
1. An active vibration damping control method for an electro-hydraulic lifting system of a tractor is characterized by comprising the following steps:
Acquiring a set value of a target longitudinal pressure P x0 of the machine tool;
Acquiring an actual lifting angle H of the machine tool and an actual transverse pulling force P Current of the machine tool, and calculating an actual longitudinal pressure P x of the machine tool according to the actual lifting angle H of the machine tool and the actual transverse pulling force P Current of the machine tool;
Acquiring response time T, calculating the upper pressure limit P yTrigUp of the low vibration region and the lower pressure limit P yTrigDw of the low vibration region according to P x0, comparing the T with preset system maintaining time T hold、Px and P yTrigUp and the magnitudes of P x and P yTrigDw, and judging whether unloading control is performed or not;
Calculating a cyclic vibration deviation delta H t according to a preset tool lifting angle H target, and calculating an upper limit pressure P yLimUp and a lower limit pressure P yLimDw according to P x0;
comparing the delta H t with a preset expected setting value delta H minp of the cyclic vibration deviation, and if delta H t is larger than delta H minp and the duration time is larger than preset time T safep, triggering an alarm to give an alarm and closing vibration reduction; comparing the sizes of P x and P yLimUp、PyLimDw, if P x is smaller than P yLimUp or P x is larger than P yLimDw and the duration is longer than the preset time T safep, triggering an alarm and closing vibration reduction.
2. The method for actively damping control of a tractor electro-hydraulic lift system of claim 1 wherein said method step of obtaining an actual lift angle H of an implement comprises:
Acquiring data of a rotation angle sensor to obtain a rotation angle alpha;
Calculating an actual lifting angle H according to the obtained rotation angle alpha;
the calculation formula of the actual lifting angle H is as follows: h=k×α; wherein,
K is a coefficient related to the length of the connecting point of each rod piece hung at three points;
Alpha ranges from 0 to 75 deg..
3. The method for actively damping control of a tractor electro-hydraulic lifting system as set forth in claim 1, wherein said method for obtaining the measured lateral tension P Current comprises the steps of:
Acquiring a real-time measured value of a tension sensor;
The actual measurement transverse tension P Current of the machine tool is obtained after filtering.
4. The method for actively damping control of a tractor electro-hydraulic lifting system according to claim 1, wherein the actual longitudinal pressure P x of the implement is calculated according to the formula: p x＝PCurrent x tanH, unit kN.
5. The method for active damping control of a tractor electro-hydraulic lift system of claim 1,
The calculation formula of the pressure upper limit P yTrigUp in the low vibration region is as follows:
PyTrigUp＝(1-Kpt)*Px0；
The calculation formula of the pressure lower limit P yTrigDw in the low vibration region is as follows:
PyTrigDw＝(1+Kpt)*Px0；
Wherein K pt is a correction coefficient related to the target longitudinal pressure of the machine tool, and the value range is 0-0.2;
the calculation formula of the upper limit pressure P yLimUp is as follows:
PyLimUp＝(1-Kpl)*Px0；
The calculation formula of the lower limit pressure P yLimDw is as follows:
PyLimDw＝(1+Kpl)*Px0；
wherein K pl is a correction coefficient related to the target longitudinal pressure of the machine tool, and the value range is generally 0.5-1.
6. The method for actively damping control of a tractor electro-hydraulic lifting system according to claim 1, wherein the cyclic vibration deviation Δh t is calculated according to the formula:
△Ht＝Hcurrentt-Htarget；
wherein H current t is the actual lifting angle of the current cycle at time t.
7. The method of active damping control of a tractor electro-hydraulic lift system of claim 1, wherein the upper unload process control is triggered when T is greater than T hold and the implement actual longitudinal pressure P x is less than the upper pressure limit P yTrigUp of the low vibration interval;
the method for controlling loading and unloading comprises the following steps:
The rising valve is electrified with a large current I fillup for a duration T fillup, so that the hydraulic module rapidly builds pressure;
Calculating an upper unloading current I outup;
The upper unloading current I outup is conducted to the rising valve;
The calculation formula of the loading and unloading current I outup is as follows:
I outup＝Kup*(Px-PyTrigUp)+△Iup units of mA;
Wherein K up is a compensation coefficient for converting pressure controlled in the loading and unloading process into current, and the smaller the actual longitudinal pressure is, the larger the value is;
DeltaI up is a compensation value for the unloading current of the rising valve in the control of the loading and unloading process,
The calculation formula of ΔI up is:
DeltaI up＝(1+Kiup*△H)*Ioutup, units mA;
Wherein Ki up is the compensation coefficient of the cyclic vibration deviation to the current, and the value range of Ki up is 0-0.05;
Δh is the sum of the cyclic vibration deviations from the start of the active vibration control to the current time, where the calculation formula of Δh at time t is:
Triggering lower unloading process control when T is greater than T hold and the implement actual longitudinal pressure P x is greater than the lower pressure limit P yTrigDw of the low vibration interval;
the method for controlling the unloading process comprises the following steps:
The high current I filldw is led to the descending valve for the duration T filldw, so that the hydraulic module rapidly builds pressure;
Calculating a lower unloading current I outdw;
the lower unloading current I outdw is led to the descending valve;
The calculation formula of the lower unloading current I outdw is as follows:
i outdw＝Kdw*(PyTrigdw-Px)+△Idw units of mA;
Wherein K dw is a compensation coefficient for converting pressure controlled by the lower unloading process into current, and the larger the actual longitudinal pressure is, the larger the value is;
DeltaI dw is a compensation value for the unloading current of the falling valve in the control of the unloading process,
The calculation formula of ΔI dw is:
DeltaI dw＝(1+Kidw*△H)*Ioutdw, units mA;
Wherein Ki dw is the compensation coefficient of the cyclic vibration deviation to the current, and the value range of Ki dw is 0-0.03;
When T is smaller than T hold or the actual longitudinal pressure P x of the machine is larger than the upper pressure limit P yTrigUp which is equal to the low vibration zone and smaller than the lower pressure limit P yTrigDw which is equal to the low vibration zone, unloading control is not performed; the upper unloading current I outup is 0mA, and the lower unloading current I outdw is 0mA.
8. The method of active damping control of a tractor electro-hydraulic lift system of claim 7 wherein the upper limit amplitude H yLimUp and the lower limit amplitude H yLimDw are calculated from H targe;
The calculation formula of the upper limit amplitude H yLimUp is as follows:
HyLimUp＝Htarget+(1+Kt+Kp)*Hybase；
the calculation formula of the lower limit amplitude H yLimDw is:
HyLimDw＝Htarget-(1-Kt-Kp)*Hybase；
Wherein K t is an angle correction coefficient, and the larger the lifting angle of the machine tool is, the larger the value is, and the value range is 0-0.2; k p is a weight correction coefficient, and the larger the target longitudinal pressure is, the larger the value is, and the value range is 0-0.3; h ybase is a reference interval, set to 2 °;
When H currentt>HyLimUp, the value of I outup is 0mA, and the current is kept at 0mA in the current vibration period;
When H currentt<HyLimDw, the value of I outdw is 0mA, and the current is kept at 0mA in the current vibration period;
wherein H current t is the actual lifting angle of the current cycle at time t.
9. The method for active vibration damping control of a tractor electro-hydraulic lifting system according to claim 1, wherein the range of Δh minp is 2-4 ° per cycle and the range of T safep is 30-50 ms.
10. An active vibration damping control device using the tractor electro-hydraulic lifting system active vibration damping control method according to any one of claims 1 to 9, characterized by comprising:
The hydraulic module comprises an ascending valve, a descending valve, a hydraulic pump and an oil cylinder; the hydraulic pump is connected with the lifting valve which is connected with the oil cylinder; the oil cylinder is connected with the descending valve; the oil cylinder is connected with the machine tool through a mechanical rod piece;
the sensor module comprises a rotation angle sensor and a tension sensor;
The rotation angle sensor is used for acquiring an actual lifting angle H of the machine;
the tension sensor is used for measuring the shearing force in the horizontal direction of the connecting points of the lower pull rods at the two sides of the three-point suspension, wherein a positive value indicates that the vehicle is subjected to backward tension, and a negative value indicates that the vehicle is subjected to backward pressure;
The electric control module comprises an engine controller, a control panel and an electrohydraulic lifting controller; the control panel is integrated with an operation element related to the operation of the electro-hydraulic lifting system, and meanwhile, the control panel sends state information of the operation element to the electro-hydraulic lifting controller through the CAN bus;
the electrohydraulic lifting controller is used for receiving the relevant bus information of the engine controller, collecting all the control information of the driver and the information of various sensors, carrying out logic judgment of relevant data quantification and carrying out control output on the hydraulic module.
11. An apparatus comprising a processor and a storage medium;
The storage medium is used for storing instructions;
the processor is operative according to the instructions to perform the tractor electro-hydraulic lift system active damping control method of any one of claims 1-9.
12. A computer readable storage medium having stored thereon a computer program, characterized in that the program, when executed by a processor, implements the active damping control method of a tractor electro-hydraulic lifting system according to any one of claims 1 to 9.
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