CN105626278A - High speed riding transplanter multi-target control, feedback type HMT variable speed operating system - Google Patents

Abstract

The invention discloses a multi-objective control and feedback HMT variable speed operating system for a high-speed ride-on rice transplanter. The system includes a data acquisition module, a control module and an actuator module. The data acquisition module collects the position of the shift lever, the angle of the accelerator pedal, the engine speed, the position of the throttle, and the speed signal of the rice transplanter. The control module receives the data acquisition signal after calculation. Control the actuator module to adjust the engine throttle and HST variable pump swash plate angle. The system detects the positions of the accelerator pedal and the main transmission lever and calculates the target driving speed, and detects the throttle opening to select the best engine operating speed; by adjusting the throttle opening and the HST variable pump swash plate rotation angle, the stable adjustment of the driving speed and the optimal engine speed are realized. The working conditions are matched, and the driving speed and engine speed are fed back to the controller to realize multi-objective and feedback control. The invention can realize the stable control of the running speed of the rice transplanter and improve the power and economy of the rice transplanter.

Description

High-speed ride-on rice transplanter multi-objective control, feedback HMT variable speed operating system

technical field

This patent is a multi-objective control and feedback HMT variable speed operating system for high-speed ride-on rice transplanters, and involves the speed change operation of ride-on rice transplanters and ride-on tractors based on HMT speed change devices.

Background technique

In the past, the transmissions of rice transplanters mostly used ordinary gear transmissions. With the improvement of people's living standards and the improvement of agricultural mechanization, people have high expectations for the convenience, power, economy and stability of driving speed of rice transplanters. Requirement, the present invention aims at improving the travel-type agricultural machinery such as ride-on rice transplanter and ride-on tractor based on HMT transmission (consisting of the stepped transmission of HST hydrostatic continuously variable transmission and gear transmission) in farmland. Stability and fuel economy and power of the engines of road agricultural machinery during use.

Contents of the invention

This patent is a multi-objective control and feedback HMT variable speed operating system for high-speed ride-on rice transplanters. The technical solution adopted to solve technical problems is: it is composed of a data acquisition module, a control module and an actuator module; the data acquisition module includes the main The shift lever position sensor (2), the accelerator pedal angle sensor (4), the engine speed sensor (8), the throttle position sensor (11) and the driving speed sensor (13); the control module includes an input interface circuit (5 ), micro-controller (6) and output interface circuit (7); said actuator module includes throttle position adjustment mechanism (10) and HST variable pump swash plate rotation angle adjustment mechanism (14); main speed change lever position sensor ( 2), the accelerator pedal angle sensor (4) transmits the position signal of the main shift operating lever and the accelerator pedal angle signal reflecting the driver's operation intention to the microcontroller (6) through the input interface circuit (5); the microcontroller (6) Analyze the input signal and drive the actuator module through the output interface circuit (7) to adjust the throttle opening and the HST (12) variable pump swash plate angle to adjust the engine speed and the HST (12) hydrostatic continuously variable transmission transmission ratio, while the engine speed sensor (8) and the travel speed sensor (13) feed back the real-time travel speed and the real-time engine speed to the control module to realize feedback closed-loop control.

The micro-controller (6) calculates the target driving speed according to the shift lever position signal and the accelerator pedal position signal, analyzes the signal fed back by the driving speed sensor (13) to calculate the actual driving speed, and when the target driving speed is not equal to the actual driving speed , the ECU transmits this signal to the drive execution module, and adjusts the angle of the HST variable pump swash plate and the opening of the engine throttle through the throttle position adjustment mechanism (10) and the HST variable pump swash plate angle adjustment mechanism (14) to make the actual driving speed Equal to the target driving speed, to realize the feedback variable speed control; meanwhile, the microcontroller (6) calculates the maximum engine speed according to the engine speed characteristics by collecting signals such as the throttle position, the accelerator pedal angle change amount and the accelerator pedal angle change rate. Optimum operating speed, calculate and analyze the actual engine speed on the signal fed back by the engine speed sensor (8), when the optimal operating speed is not equal to the actual speed, adjust the HST (12) through the HST variable pump swash plate angle adjustment mechanism (14) The angle of the swash plate of the variable pump changes the load of the output shaft of the engine (9) so that the actual engine speed is equal to the optimum operating speed, thereby realizing the feedback control of the engine's optimum working condition.

The beneficial effect of this patent is: to provide a new control method of multi-objective control and feedback HMT variable speed operating system for high-speed ride-on rice transplanter, so that the driving speed of the rice transplanter based on the HMT variable speed device is stable, and at the same time it can be controlled according to the throttle. The position, the change amount and the change rate of the accelerator pedal control the engine to work at the optimum speed, and feed back to the controller by collecting the driving speed and engine speed signals to realize the multi-objective and feedback control of the HMT variable speed operating system of the high-speed ride-on rice transplanter. The purpose of improving the good power and economy of the high-speed riding rice transplanter is achieved.

Description of drawings

Fig. 1 is the structural diagram of the multi-objective control and feedback HMT variable speed operating system of the high-speed ride-on rice transplanter of this patent.

In the figure, 1. Main gear shift lever; 2. Main gear shift lever position sensor; 3. Accelerator pedal; 4. Accelerator pedal sensor; 5. Input interface; 6. Microcontroller; 7. Output interface circuit; 8. Engine Speed sensor; 9. Engine; 10. Throttle position adjustment mechanism; 11. Throttle position sensor; 12. HST hydrostatic continuously variable transmission; 13. Driving speed sensor; 14. HST variable pump swash plate angle adjustment mechanism.

detailed description

The patented high-speed ride-on rice transplanter multi-objective control, feedback-type HMT variable speed operating system includes a data acquisition module, a control module and an actuator module, and the data acquisition module includes a main speed change operation lever position sensor (2), an accelerator pedal rotation angle sensor ( 4), engine speed sensor (8), throttle position sensor (11), travel speed sensor (13) constitute; Described control module comprises input interface circuit (5), microcontroller (6) and output interface circuit (7 ); the actuator module includes a throttle position adjustment mechanism (10) and an HST variable pump swash plate rotation angle adjustment mechanism (14).

In the data acquisition module, the main shift lever position sensor (2) is installed at the bottom of the main shift operating lever (1), the accelerator pedal sensor (4) is installed under the accelerator pedal (3), and the engine speed sensor (8) is installed at the engine (9) ) on the signal plate of the crankshaft output end, the driving speed sensor (13) is installed on the transmission output shaft signal plate, the throttle position sensor (11) is installed on the throttle body and connected with the throttle shaft; the main shifting operation in the data acquisition module The lever position sensor (2), the accelerator pedal angle sensor (4), the engine speed sensor (8), the throttle position sensor (11), and the driving speed sensor (13) are respectively connected to the input interface circuit (5) in the control module; The throttle position adjustment mechanism (10) and the HST variable pump swash plate angle adjustment mechanism (14) in the actuator module are respectively connected to the output interface circuit (7) in the control module; The position signal and the accelerator pedal angle signal are used to calculate the HST (12) variable pump swash plate angle and the adjustment amount of the throttle, and the signal is output to the actuator module through the output interface circuit (7) to realize the control of the throttle and the HST (12) variable The adjustment of the rotation angle of the pump swash plate, while the driving speed sensor (13) and the engine speed sensor (8) in the data acquisition module feed back the real-time driving speed and engine speed back to the control module to realize the stability of driving speed and the optimal working speed of the engine. Multi-target, feedback style control.

The system detects the driver's operation on the main gear lever (1) and the accelerator pedal (3), calculates the target driving speed according to the positions of the main gear lever (1) and the accelerator pedal (3) and compares it with the actual driving speed, and uses The deviation value is calculated through the PID algorithm to adjust the throttle valve adjustment amount, and the throttle valve opening is adjusted by using the throttle valve position adjustment mechanism (10); at the same time, according to the throttle valve opening, it is selected from the engine speed characteristic curve stored in the microcontroller (6). The optimal working speed of the engine is taken as the target speed and compared with the actual speed. If they are not equal, the deviation value is used to calculate the adjustment amount of the swash plate of the HST (12) variable pump through the PID algorithm, and the adjustment mechanism of the swash plate angle of the HST variable pump is used (14) Adjust the angle of the swash plate of the HST (12) variable pump; after completing an adjustment, the data acquisition module will feed back the actual driving speed and the actual engine speed to the microcontroller (6). If there is a deviation, continue to adjust until the actual driving speed and the actual engine speed The rotational speed is equal to the target traveling speed and the target rotational speed of the engine, thereby realizing multi-objective and feedback control of the rice transplanter.

Claims (2)

1. the HMT gear operation system of high speed saddle type rice transplanter multi objective control, reaction type, it is characterised in that: it is made up of data acquisition module, control module and actuator module; Described data acquisition module includes main transformer speed lever position sensor (2), accelerator pedal rotary angle transmitter (4), engine speed sensor (8), TPS (11) and road speed sensors (13) and constitutes; Described control module includes input interface circuit (5), microcontroller (6) and output interface circuit (7); Described actuator module includes throttle position governor motion (10) and HST variable pump swash plate corner governor motion (14).

Main transformer speed lever position sensor (2), the main transformer speed lever position signal that reaction operator is intended to by accelerator pedal rotary angle transmitter (4), accelerator pedal angular signal passes through input interface circuit (5) incoming microcontroller (6), microcontroller (6) is analyzed input signal and by output interface circuit (7), result of calculation is driven actuator module, regulate throttle opening and HST (12) variable pump swash plate corner to regulate engine speed and the gear ratio of HST hydrostatic formula buncher, real time running speed and real time engine speed feedback are realized reaction type closed loop control to controlling module by engine speed sensor (8) and road speed sensors (13) simultaneously.

2. high speed saddle type rice transplanter multi objective control according to claim 1, the HMT gear operation system of reaction type, it is characterized in that: described microcontroller (6) calculates target travel speed according to shift lever position signalling and acceleration pedal position signal, analyze the signal calculating actual travel speed that road speed sensors (13) feeds back to, when target travel speed is not equal to actual travel speed, by ECU, this signal is passed to driving and perform module, regulate HST (12) variable pump swash plate angle by throttle position governor motion (10) and HST variable pump swash plate corner governor motion (14) and throttle opening makes actual travel speed equal to target travel speed, to realize feedback speed Control,

Meanwhile, the described microcontroller (6) the signal such as throttle position by collecting, accelerator pedal corner variable quantity and accelerator pedal corner rate of change, according to engine speed property calculation electromotor optimum operating speed, the signal that engine speed sensor (8) is fed back to is calculated analyzing actual engine speed, when optimum operating speed is not equal to actual speed, HST (12) variable pump swash plate angle is regulated by HST variable pump swash plate corner governor motion (14), thus changing engine output shaft load so that actual engine speed is equal with optimum operating speed, realize electromotor optimum condition feedback control.