CN115380700A - Combine harvester engine power self-adaptive control system and method - Google Patents
Combine harvester engine power self-adaptive control system and method Download PDFInfo
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- CN115380700A CN115380700A CN202211330889.0A CN202211330889A CN115380700A CN 115380700 A CN115380700 A CN 115380700A CN 202211330889 A CN202211330889 A CN 202211330889A CN 115380700 A CN115380700 A CN 115380700A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1274—Control or measuring arrangements specially adapted for combines for drives
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Abstract
The invention relates to the technical field of combine harvesters, in particular to a combine harvester engine power self-adaptive control system and method. The system comprises an on-board control unit for: receiving a target power mode of an engine of the combine harvester set by a user, or judging the target power mode of the engine according to the current average load rate of the engine of the combine harvester when the combine harvester is in a working condition, or judging the target power mode of the engine according to the current running data of the combine harvester when the combine harvester is in a non-working condition, wherein the vehicle-mounted control unit is further used for: and adjusting the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode. The self-adaptive control can be carried out on the engine power of the combine harvester, so that the engine power is optimally matched with the working condition, the operation of the whole process is simple, the intelligent degree is higher, meanwhile, the engine power utilization rate is greatly improved, and the fuel consumption is reduced.
Description
Technical Field
The invention relates to the technical field of combine harvesters, in particular to a combine harvester engine power self-adaptive control system and method.
Background
At present, the crop harvesting mode is gradually changed from manual operation to mechanical operation, so that the agricultural production efficiency is greatly improved, and the high-strength agricultural working pressure of farmers is relieved. The popularization of the combine harvester improves the grain production efficiency, and the problems in application are gradually exposed. The combine harvester has complex working conditions, the working process is influenced by factors such as crop height, crop density, grain water content, ground leveling degree, crop type and the like, the consumed engine power is different, the engine cannot run at an optimal working point or an optimal working area under most conditions, and the energy utilization rate is low, so that the control of the power output of the engine has great influence on the energy conservation of the whole combine harvester, if the engine power is matched properly, the fuel consumption is reduced, meanwhile, the working strength of the engine and a hydraulic system can be reduced, and the reliability of a power system is improved. At present, most harvesters manually control the power output of an engine according to experience, and the method for manually and roughly adjusting the output power of the engine can cause the output power of the engine to be higher than the power actually required by operation, so that the fuel consumption is increased, the power waste is caused, meanwhile, the output power can not meet the actual requirement, the operation power is insufficient, and the efficiency is low.
Disclosure of Invention
The invention provides a system and a method for self-adaptive control of the power of an engine of a combine harvester, aiming at the defects of the prior art.
The technical scheme of the self-adaptive control system for the engine power of the combine harvester is as follows:
comprises a vehicle-mounted control unit;
the vehicle-mounted control unit is used for: receiving a target power mode of an engine of a combine harvester set by a user, or judging the target power mode of the engine according to the current average load rate of the engine of the combine harvester when the combine harvester is in an operation working condition, or judging the target power mode of the engine according to the current operation data of the combine harvester when the combine harvester is in a non-operation working condition;
the onboard control unit is further configured to: and adjusting the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode.
The self-adaptive control system for the engine power of the combine harvester has the following beneficial effects:
the self-adaptive control can be carried out on the engine power of the combine harvester, so that the engine power is optimally matched with the working condition, the operation of the whole process is simple, the intelligent degree is higher, meanwhile, the engine power utilization rate is greatly improved, and the fuel consumption is reduced.
The technical scheme of the self-adaptive control method for the engine power of the combine harvester is as follows:
the method comprises the steps that a vehicle-mounted control unit receives a target power mode of an engine of a combine harvester set by a user, or when the combine harvester is in an operation working condition, the target power mode of the engine is judged according to the current average load rate of the engine of the combine harvester, or when the combine harvester is in a non-operation working condition, the target power mode of the engine is judged according to the current operation data of the combine harvester;
and the vehicle-mounted control unit adjusts the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode.
The self-adaptive control method for the engine power of the combine harvester has the following beneficial effects:
the engine power of the combine harvester can be adaptively controlled, so that the engine power is optimally matched with the working condition, the whole process is simple to operate, the intelligent degree is high, the engine power utilization rate is greatly improved, and the fuel consumption is reduced.
The invention provides a combine harvester, which comprises the engine power self-adaptive control system of the combine harvester.
Drawings
FIG. 1 is a schematic structural diagram of an adaptive control system for the engine power of a combine harvester according to an embodiment of the present invention;
FIG. 2 is a schematic flow chart illustrating a process for adjusting a current engine speed to a speed corresponding to a target power mode;
FIG. 3 is a schematic view of a control flow of an operation condition;
FIG. 4 is a schematic view of a control flow for non-operational conditions;
FIG. 5 is a schematic diagram of a power mode;
fig. 6 is a schematic flow chart of an adaptive control method for the engine power of a combine harvester according to an embodiment of the invention.
Detailed Description
As shown in fig. 1, an adaptive control system for the power of an engine of a combine harvester according to an embodiment of the present invention includes an on-board control unit;
the vehicle-mounted control unit is used for: receiving a target power mode of an engine of the combine harvester set by a user, or judging the target power mode of the engine according to the current average load rate of the engine of the combine harvester when the combine harvester is in an operation working condition, or judging the target power mode of the engine according to the current operation data of the combine harvester when the combine harvester is in a non-operation working condition;
the entity corresponding to the vehicle-mounted control unit is a controller or a chip.
The power of an engine of the combine harvester is set into four different power modes according to different working condition requirements, namely a heavy-load power mode, a medium-load power mode, a light-load power mode and a transfer power mode, wherein the heavy-load power is 460kw, the medium-load power mode is 360kw, the light-load power mode is 230kw, and the transfer power mode is 180kw, and the displacement of a pump can be changed by adjusting the current value of the pump in the heavy-load, medium-load and light-load power modes, so that the rotating speed of the engine is maintained at the rotating speed of the engine corresponding to the corresponding power mode, and the power of the engine is fully utilized. The rotating speed of the engine can be set through a hand throttle in each power mode, and the rotating speeds of the engine corresponding to the power modes of heavy load, medium load and light load are all 1900r/min. It should be noted that specific values of the engine rotation speed corresponding to the different power modes are set according to actual conditions.
When an engine of the combine harvester is in a power transfer mode, the combine harvester does not work, only the combine harvester is in driving, at the moment, the rotating speed of the engine is set through a hand accelerator and serves as the rotating speed corresponding to the power transfer mode, and the value range of the rotating speed is 1000 to 1900r/min.
The vehicle-mounted control unit receives a target power mode selected by a user from the four power modes of heavy load, medium load, light load and transfer, or when the combine harvester is in an operation working condition, the target power mode of the engine is judged to be heavy load, medium load, light load or transfer according to the current average load rate of the engine of the combine harvester, or when the combine harvester is in a non-operation working condition, the target power mode of the engine is judged to be heavy load, medium load, light load or transfer according to the current operation data of the combine harvester.
Wherein the current operating data of the combine harvester comprises: grain full state, gradient and driving mode.
The on-board control unit is further configured to: adjusting the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode, specifically: the vehicle-mounted control unit specifically utilizes a fuzzy PID control strategy to regulate the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode through an engine ECU of the combine harvester.
The vehicle-mounted control unit sends an accelerator control signal corresponding to a target power mode to the engine ECU, the engine ECU adjusts the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode according to the accelerator control signal, specifically, the change and the change rate of the rotating speed of the engine can be detected, a proportional electromagnetic valve of a pump is controlled by calculating and outputting a real-time current signal, the displacement of the pump is adjusted, so that the rotating speed of the engine is stabilized at the target rotating speed, namely the rotating speed of the engine corresponding to the target power mode, in order to improve the control precision, a fuzzy PID control strategy is added, specifically:
the fuzzy PID control strategy takes as input the engine speed deviation and the rate of change of the deviation, wherein the speed deviation is as follows: deviation between the actual rotating speed of the engine and the target rotating speed, wherein the rotating speed deviation change rate is as follows: the rate of change between two consecutive rotational speed deviations;
the vehicle-mounted control unit continuously acquires the deviation of the rotating speed of the engine and the change rate of the deviation, and obtains corresponding PID three coefficients, namely a proportional coefficient, an integral coefficient and a differential coefficient according to a fuzzy rule established by a fuzzy PID control strategy so as to meet the requirements of different conditions. The specific fuzzy rules of the fuzzy PID control strategy are as follows:
1) When the deviation between the actual rotation speed of the engine and the target rotation speed, that is, the deviation of the engine rotation speed is greater than 50, the proportionality coefficient is as large as possible, for example, the proportionality coefficient is 15, in this case, the deviation of the engine rotation speed can be rapidly reduced, but if the proportionality coefficient is too large, the change rate of the deviation is increased, in this case, a small differential coefficient is required to be taken to suppress the increase of the change rate of the deviation, for example, the differential coefficient is 2, and in order to avoid overshoot, a small integral coefficient is required to be taken, for example, 0;
2) When the deviation between the actual rotation speed of the engine and the target rotation speed, that is, the deviation of the engine rotation speed is 25 to 50, in order to improve stability and reduce steady-state error, it is necessary to increase the values of the proportional coefficient and the integral coefficient appropriately, for example, the proportional coefficient is 10 and the integral coefficient is 3, and for the differential coefficient, if the deviation of the engine rotation speed is greater than 30, the value of the differential coefficient is smaller, that is, the value of the differential coefficient is 1, and otherwise, the value is larger, that is, the value of the differential coefficient is 1.5.
3) When the deviation between the actual rotating speed of the engine and the target rotating speed, namely the deviation of the rotating speed of the engine is not more than 25r/min, the proportional coefficient and the integral coefficient should be smaller to avoid overshoot, for example, the proportional coefficient is 4, the integral coefficient is 0.5, and a derivative coefficient with a proper size, for example, 1.3, can be adopted to improve the response speed of the system.
It should be noted that, a user can determine specific values of different proportionality coefficients, integration coefficients and differential coefficients according to actual conditions such as specification parameters of engines of different combine harvesters, the vehicle-mounted control unit works out a fuzzy control rule table according to the fuzzy rules, calculates the magnitudes of the proportionality coefficients, the integration coefficients and the differential coefficients by looking up the table, and then calculates the final output quantity through linear combination, so that the rotating speed of the engine is stabilized at a target rotating speed, namely the rotating speed of the engine corresponding to the target power mode.
The specific implementation process of the fuzzy PID control strategy is shown in fig. 2, specifically:
s100, determining a target power mode, specifically: receiving a target power mode of an engine of the combine harvester set by a user, or judging the target power mode of the engine according to the current average load rate of the engine of the combine harvester when the combine harvester is in an operation working condition, or judging the target power mode of the engine according to the current operation data of the combine harvester when the combine harvester is in a non-operation working condition;
the method comprises the steps of acquiring the rotating speed of a roller through a roller rotating speed sensor of the combine harvester, judging whether an engine is in an operation working condition or not according to the rotating speed of the roller, and when the rotating speed of the roller is larger than a preset roller rotating speed threshold value, indicating that the engine is in the operation working condition, otherwise, indicating that the engine is in a non-operation working condition, wherein the value of the preset roller rotating speed threshold value can be 300r/min, and the specific value of the preset rotating speed threshold value can also be set according to the actual condition.
Or, acquiring the grain lifting and transporting speed through a grain lifting and transporting speed sensor of the combine harvester, judging whether the engine is in the working condition or not according to the grain lifting and transporting speed, and when the grain lifting and transporting speed is greater than a preset grain lifting and transporting speed threshold, indicating that the engine is in the working condition, otherwise, indicating that the engine is in the non-working condition, wherein the preset grain lifting and transporting speed threshold can be 300r/min, and the specific value of the preset grain lifting and transporting speed threshold can also be set according to the actual condition.
Or acquiring the miscellaneous residual lifting rotating speed through an miscellaneous residual lifting rotating speed sensor of the combine harvester, judging whether the engine is in an operation working condition or not according to the miscellaneous residual lifting rotating speed, indicating that the engine is in the operation working condition when the miscellaneous residual lifting rotating speed is greater than a preset miscellaneous residual lifting rotating speed threshold, otherwise, indicating that the engine is in a non-operation working condition, wherein the preset miscellaneous residual lifting rotating speed threshold can be 300r/min, and setting a specific value of the preset miscellaneous residual lifting rotating speed threshold according to an actual condition.
S101, setting a target rotating speed: determining the rotating speed of the engine corresponding to the target power mode as a target rotating speed;
s102, reading an actual rotating speed: acquiring the actual rotating speed of the engine;
s103, calculating the rotating speed deviation and the rotating speed deviation change rate:
wherein, the rotational speed deviation is: deviation between the actual rotation speed of the engine and the target rotation speed, and the rotation speed deviation change rate is as follows: the rate of change between two consecutive rotational speed deviations;
s104, calculating specific values of a proportional coefficient, an integral coefficient and a differential coefficient according to a fuzzy control rule to obtain an output PWM value, namely a duty ratio;
and S105, controlling the variable pump proportional valve according to the PWM value, and further adjusting the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode.
Because the working conditions of the combine harvester are complex, and the requirements of different working conditions on the dynamic property and the economical property of the engine are different, on the basis of the complex working conditions, the invention adds the working condition division control which is mainly divided into the working condition and the non-working condition, the control strategy under the working condition is mainly to judge the target power mode of the engine according to the average load factor, and the control strategy under the non-working condition is mainly to judge the target power mode of the engine according to the full grain state, the gradient, the driving mode and the like. The judgment of the working condition and the non-working condition can be carried out by any one or any combination of the rotating speed of the axial flow roller, the rotating speed of the seed elevator or the rotating speed of the impurity elevator.
Under the working condition, the vehicle-mounted control unit can determine the target power mode according to the average load rate of the engine, wherein the average load rate is as follows: average value of load percentage in unit time at the current rotation speed. The power of the engine is firstly switched to a preset power mode, different crop types have different preset power modes, the power mode can be set according to actual conditions, then the current average load rate is calculated at set time intervals, when the average load rate is lower than the minimum value of a set threshold range, the power mode is automatically switched to a lower-level power mode, and when the average load rate is higher than the maximum value of the set threshold range, the power is automatically switched to a higher-level power mode. The level sequence of the heavy load, the medium load, the light load and the transfer of the four power modes is as follows: the heavy load > medium load > light load > transfer, the lowest is the light load power mode under the operating condition, under the light load power mode, when the average load factor is lower than the minimum value of the set threshold, the power mode is not allowed to be switched to the transfer power mode, wherein the range of the set threshold is generally 80% -82%, and the control flow is as shown in fig. 3 and includes:
s200, firstly, switching the power of an engine into a preset power mode, wherein different crop types have different preset power modes;
s201, calculating an average load rate;
s202, judging whether the average load rate is smaller than the minimum value of the set threshold range, if so, executing S205, and if not, executing S203;
s203, judging whether the average load rate is larger than the maximum value of the set threshold range, if so, executing S206, and if not, executing S204;
s205, judging whether the current power mode allows switching, if so, executing S207, and if not, executing S209;
s206, judging whether the current power mode is allowed to be switched, if so, executing S208, otherwise, executing S209; s207, automatically switching to a lower power mode, specifically:
at this time, it is described that the lower power mode is the target power mode, the lower power mode is switched to, and then the current rotation speed of the engine is adjusted to the rotation speed of the engine corresponding to the lower power mode.
S208, automatically switching to a higher power mode, specifically:
at this time, the higher-level power mode is considered as the target power mode, the higher-level power mode is switched to, and then the current rotating speed of the engine is adjusted to the rotating speed of the engine corresponding to the higher-level power mode.
S209, maintaining the current power mode; specifically, the method comprises the following steps:
at this time, the current power mode is described as the target power mode, and may be kept unchanged.
Wherein the current operating data of the combine harvester comprises: grain full state, gradient and driving mode. The process of determining the target power mode of the engine based on current operating data of the combine harvester includes: wherein, under the non-operation working condition, the vehicle-mounted control unit firstly judges whether the current driving mode of the combine harvester is a four-wheel driving mode, if the current driving mode is the four-wheel driving mode, the heavy-duty power mode is determined as a target power mode, the power of an engine is automatically switched to the heavy-duty power mode, if the current driving mode is not the four-wheel driving mode, the slope of the combine harvester is judged through an inclination angle sensor of the combine harvester, the slope is divided into four sections, namely, less than 5 degrees, 5 degrees to 10 degrees, 10 degrees to 15 degrees and more than 15 degrees, when the slope of the combine harvester is more than 15 degrees, the heavy-duty power mode is determined as the target power mode, the power of the engine is switched to the heavy-duty power mode, when the slope of the combine harvester is between 10 degrees and 15 degrees, the combine harvester is firstly judged whether the combine harvester is in a full grain state, if the heavy-duty power mode is determined as the target power mode, and switching the engine power to a heavy load power mode, if not full of grain, determining the mid load power mode as a target power mode, and switching the engine power to the mid load power mode, when the gradient of the combine is between 5 DEG and 10 DEG, first determining whether the combine is in a full of grain state, if so, determining the mid load power mode as the target power mode, and switching the engine power to the mid load power mode, if not full of grain, determining the light load power mode as the target power mode, and switching the engine power to the light load power mode, when the gradient of the combine is lower than 5 DEG, first determining whether the combine is in a full of grain state, if so, determining the mid load power mode as the target power mode, and switching the engine power to the mid load power mode, if not full of grain, the transfer power mode is determined as the target power mode and the engine power is switched to the transfer power mode, and the control flow is as shown in fig. 4.
Optionally, in the above technical solution, the mobile terminal further includes an intelligent display terminal, and the intelligent display terminal is configured to: and receiving a target power mode of an engine of the combine harvester set by a user, and sending the target power mode to the vehicle-mounted control unit.
Optionally, in the above technical solution, the intelligent display terminal is further configured to: the engine ECU displays the engine operation data sent thereto.
The intelligent display terminal is used for parameter display and parameter setting, and is communicated with the vehicle-mounted control unit through the CAN bus, the information such as the rotating speed of the axial flow roller, the grain lifting rotating speed, the miscellaneous surplus lifting rotating speed, the four-wheel drive state and the like is displayed through the intelligent display terminal, and the parameters such as the power selection mode, the crop variety and the like are set through the parameter setting unit. Besides controlling the engine speed, the engine ECU transmits some operating parameters of the engine, such as the engine speed, the average load rate and the like, to the vehicle-mounted control unit and the intelligent display terminal through the CAN bus. The vehicle-mounted control unit is an input signal acquisition and control signal output unit and is mainly used for acquiring various sensor signals and controlling current output of the pump and the like.
The roller rotating speed sensor is arranged at the end of a roller shaft, can acquire the rotating speed of the roller in the working process in real time and sends the rotating speed to the vehicle-mounted control unit;
the vehicle speed sensor is arranged on an output shaft of the gearbox, can acquire the running speed of the combine harvester in real time and sends the running speed to the vehicle-mounted control unit.
The grain lifting rotation speed sensor is arranged at the input shaft end of the grain lifting conveyor, can acquire the grain lifting rotation speed in the working process in real time, and sends the grain lifting rotation speed to the vehicle-mounted control unit.
The miscellaneous residual lift conveying speed sensor is arranged at the input shaft end of the miscellaneous residual lift conveying device, can acquire the rotating speed of the miscellaneous residual lift conveying device in the working process in real time, and sends the rotating speed to the vehicle-mounted control unit.
The tilt angle sensor is arranged at the center of a front axle of the vehicle, can acquire the posture of the vehicle body in real time and sends the posture to the vehicle-mounted control unit.
The full grain sensor is arranged on the side wall of the grain tank, can acquire full grain information and sends the full grain information to the vehicle-mounted control unit.
Engines are designed with a variety of power output curves. For example, in one particular application there are four power output curve modes: transfer, light load, medium load, heavy load. The power output by these four modes becomes higher successively as shown in fig. 5.
The vehicle control unit determines the power which needs to be output by the engine at present according to different crops and different working conditions, then sends the power to the engine ECU through the CAN message, and the ECU performs mode change according to the message and executes a corresponding engine power output curve.
The display screen can be used to select a manual mode or an automatic switching mode and different crops (such as wheat, soybean and corn), and when the mode control is manual, the mode (such as transfer, light load, medium load and heavy load) of the engine can be selected on the screen. When the automatic switching mode is selected, the engine needs to be comprehensively judged to select which power output mode according to different working conditions and different crops.
One specific application is as follows:
1) When the vehicle is switched to a four-wheel drive control mode, the power of the engine is switched to be heavy load at the moment;
2) The vehicle is in a non-operation working condition, when the vehicle climbs a slope, the gradient is more than or equal to 10, and the power of the engine is switched into a heavy load at the moment; and 5< gradient < 10, wherein the power of the engine is switched to be medium load.
3) The vehicle is in non-operation condition, and the grain tank is in 3/4 full state, the engine power is switched to heavy load.
4) The vehicle is in a non-operation working condition, the grain tank is not full of grains, if the gradient is less than or equal to 5, the traveling speed is greater than 1, and at the moment, the power of the engine is switched to transfer.
5) When the vehicle is in the working condition, the judgment needs to be carried out according to the harvested crops. When harvesting wheat and corn, the power of the engine is firstly switched to a heavy-load mode, then the average load rate is judged every 30s (the grain unloading time is removed at the interval time), when the average load rate is lower than 80%, the power is automatically switched to medium load, and when the average load rate is higher than 80%, the power is automatically switched to heavy load; when the average load rate is lower than 80%, automatically switching to light load, and when the average load rate is higher than 80%, switching to medium load first, and then circularly judging the average load rate. The lowest operation condition is the light load mode, and in the light load mode, when the average load rate is lower than 80%, the transition mode is not allowed to be switched. When the soybeans are harvested, the engine power is firstly switched to the medium load, and then the mode to be switched to is judged according to the average load rate, specifically referring to wheat and corn.
6) Judging the working condition: and judging whether the current mode is in the operation mode or not according to the rotating speed of the axial flow roller or the seed lifting rotating speed or the impurity lifting rotating speed.
7) The slope is obtained by a slope sensor.
The functions performed by the display screen may be replaced by other elements, depending on the particular application scenario.
According to specific application scenarios, the conditions for judging and selecting the engine power curve can be flexibly changed. But not limited to crop type, grade, speed, average load rate, grain fullness, etc.
The engine is used as the main power source of the combine harvester, the performance of the engine directly affects the economy, the dynamic property, the service life and the like of the combine harvester, and the full utilization of the economy and the dynamic property of the engine is closely related to the change of working conditions in the whole machine operation process. Different operating modes often need different power demands to the engine, for example, when the harvester is in the operation operating mode, the power needs to be determined according to the difference of the harvested crops, for example, when wheat and corn are harvested, the power needs to be larger, when soybean is harvested, the power needs to be smaller, even when the same crop is harvested, the power demands of the engine are different due to the difference of crop density, crop height, grain water content and the like, and at the moment, the power of the engine needs to be judged according to the average load rate. When the harvester is in a non-operation condition, the power needs to be determined according to the current state of the harvester, for example, when the harvester climbs a slope or is fully transported, the power needs to be larger, and when the harvester does not climb the slope and is not fully transported, the power needs to be smaller. In order to meet the power output requirement of the combine harvester on the engine under different working conditions, and reasonably utilize the power of the engine, so that the engine can work at an optimal working point or an optimal working area, the invention aims to design the combine harvester of which the power of the engine can be adaptively controlled according to different working conditions. Before harvesting operation, a user can select a manual mode or an automatic mode through an engine power mode button on the intelligent display terminal, when the manual mode is selected, the power output of the engine is determined according to the manual selection mode, meanwhile, the manual selection mode is sent to the vehicle-mounted control unit, and then a signal is sent to the engine ECU through the vehicle-mounted control unit to control the power of the engine; when the user selects the automatic mode, the vehicle-mounted control unit carries out self-adaptive control on the engine power by acquiring information such as the engine speed, the axial flow roller speed, the seed elevator speed, the miscellaneous and residual elevator speed, the average load rate, the four-wheel drive state, the full grain information, the crop type and the like, and the engine power is optimally matched with the working condition through adjustment.
In the invention, the power of the engine is set into four different power modes, namely a heavy load mode, a medium load mode, a light load mode and a transfer mode, and the power output of the engine is adjusted in real time according to the judgment condition of actual working conditions based on the matching control of the power of the engine under different working conditions. The power output of the engine is automatically adjusted without manual adjustment, and the power utilization rate of the engine is improved and the fuel consumption is reduced by matching and controlling the power of the engine under different working conditions. Moreover, the intelligent display terminal can select mode switching, and when the self-adaptive control system breaks down, manual selection can be carried out.
As shown in fig. 6, the self-adaptive control method for the engine power of the combine harvester according to the embodiment of the present invention includes the following steps:
s1, a vehicle-mounted control unit receives a target power mode of an engine of a combine harvester, wherein the target power mode is set by a user, or when the combine harvester is in an operation working condition, the target power mode of the engine is judged according to the current average load rate of the engine of the combine harvester, or when the combine harvester is in a non-operation working condition, the target power mode of the engine is judged according to the current operation data of the combine harvester;
and S2, the vehicle-mounted control unit adjusts the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode.
Optionally, in the foregoing technical solution, the adjusting, by the vehicle-mounted control unit, the current rotation speed of the engine to the rotation speed of the engine corresponding to the target power mode includes:
the vehicle-mounted control unit specifically utilizes a fuzzy PID control strategy to adjust the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode through an engine ECU of the combine harvester.
Optionally, in the above technical solution, the method further includes:
the intelligent display terminal receives a target power mode of an engine of the combine harvester set by a user and sends the target power mode to the vehicle-mounted control unit.
Optionally, in the above technical solution, the method further includes: and the intelligent display terminal displays the operation data of the engine sent by the engine ECU.
In the foregoing embodiments, although steps are numbered as S1, S2, etc., but the embodiments are only specific examples given in this application, and those skilled in the art may adjust the execution order of S1, S2, etc. according to the actual situation, and this is also within the protection scope of the present invention, and it is understood that some embodiments may include some or all of the above embodiments.
The implementation of the steps in the adaptive control method for the engine power of the combine harvester of the present invention can refer to the content in the embodiment of the adaptive control system for the engine power of the combine harvester, and will not be described herein again.
The combine harvester of the embodiment of the invention comprises the engine power adaptive control system of the combine harvester.
As will be appreciated by one skilled in the art, the present invention may be embodied as a system, method or computer program product.
Accordingly, the present disclosure may be embodied in the form of: the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment (including firmware, resident software, micro-code, etc.) or an embodiment combining software and hardware aspects that may all generally be referred to herein as a "circuit," module "or" system. Furthermore, in some embodiments, the invention may also be embodied in the form of a computer program product in one or more computer-readable media having computer-readable program code embodied in the medium.
Any combination of one or more computer-readable media may be employed. The computer readable medium may be a computer readable signal medium or a computer readable storage medium. A computer readable storage medium may be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium include an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In the context of this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (10)
1. A self-adaptive control system for the power of an engine of a combine harvester is characterized by comprising a vehicle-mounted control unit;
the vehicle-mounted control unit is used for: receiving a target power mode of an engine of a combine harvester set by a user, or judging the target power mode of the engine according to the current average load rate of the engine of the combine harvester when the combine harvester is in an operation working condition, or judging the target power mode of the engine according to the current operation data of the combine harvester when the combine harvester is in a non-operation working condition;
the onboard control unit is further configured to: and adjusting the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode.
2. The adaptive control system for the engine power of the combine harvester according to claim 1, wherein the vehicle-mounted control unit adjusts the current rotation speed of the engine to the rotation speed of the engine corresponding to the target power mode through an engine ECU of the combine harvester by using a fuzzy PID control strategy.
3. The adaptive control system for combine harvester engine power according to claim 2, further comprising an intelligent display terminal for: and receiving the target power mode of the engine of the combine harvester set by the user and sending the target power mode to the vehicle-mounted control unit.
4. The adaptive control system for combine harvester engine power according to claim 3, wherein the intelligent display terminal is further configured to: and displaying the engine operation data sent by the engine ECU.
5. A combine harvester engine power adaptive control system according to any one of claims 1 to 4, wherein the current operating data of the combine harvester comprises: grain full state, gradient and driving mode.
6. A self-adaptive control method for the power of an engine of a combine harvester is characterized by comprising the following steps:
the method comprises the steps that a vehicle-mounted control unit receives a target power mode of an engine of a combine harvester set by a user, or when the combine harvester is in an operation working condition, the target power mode of the engine is judged according to the current average load rate of the engine of the combine harvester, or when the combine harvester is in a non-operation working condition, the target power mode of the engine is judged according to the current operation data of the combine harvester;
and the vehicle-mounted control unit adjusts the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode.
7. The adaptive control method for the power of the engine of the combine harvester according to claim 6, wherein the step of adjusting the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode by the vehicle-mounted control unit comprises the following steps:
and the vehicle-mounted control unit specifically utilizes a fuzzy PID control strategy to regulate the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode through an engine ECU of the combine harvester.
8. The adaptive control method for combine harvester engine power according to claim 7, further comprising:
and the intelligent display terminal receives the target power mode of the engine of the combine harvester set by the user and sends the target power mode to the vehicle-mounted control unit.
9. A combine engine power adaptive control method according to any of claims 6 to 8, wherein the current operating data of the combine comprises: grain full state, gradient and driving mode.
10. A combine harvester including a combine harvester engine power adaptive control system as claimed in any one of claims 1 to 5.
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| CN115380700B (en) | 2023-05-09 |
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