CN115380700B - Self-adaptive control system and method for engine power of combine harvester - Google Patents
Self-adaptive control system and method for engine power of combine harvester Download PDFInfo
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- CN115380700B CN115380700B CN202211330889.0A CN202211330889A CN115380700B CN 115380700 B CN115380700 B CN 115380700B CN 202211330889 A CN202211330889 A CN 202211330889A CN 115380700 B CN115380700 B CN 115380700B
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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 self-adaptive control system and method for engine power of a combine harvester. The system comprises a vehicle-mounted control unit, wherein the vehicle-mounted control unit is used for: receiving a target power mode of an engine of the combine harvester, which is 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 operation 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 engine power of the combine harvester can be adaptively controlled, so that the engine power and working conditions are optimally matched, 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.
Description
Technical Field
The invention relates to the technical field of combine harvesters, in particular to a self-adaptive control system and method for engine power of a combine harvester.
Background
At present, the crop harvesting mode is gradually changed from manual work to mechanized operation, so that the agricultural production efficiency is greatly improved, and the high-strength agricultural work 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 condition, is influenced by factors such as crop height, crop density, grain moisture content, ground flatness, crop variety and the like in the working process, consumes different engine power, and the engine cannot run at an optimal working point or an optimal working area under most conditions, so that the energy utilization rate is lower, the power output of the engine is controlled to have great influence on the energy conservation of the whole harvester, and if the engine power is properly matched, the fuel consumption is reduced, the working intensity of the engine and a hydraulic system is also 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 by manpower, and the method for manually and roughly adjusting the power output of the engine can lead to the power output of the engine to be higher than the power actually required by operation, thereby increasing fuel consumption and causing power waste, and simultaneously, the power output can not meet the actual requirement, so that the operation power is insufficient and the efficiency is low.
Disclosure of Invention
The invention aims to solve the technical problem of providing a self-adaptive control system and a self-adaptive control method for engine power of a combine harvester aiming at the defects of the prior art.
The invention relates to a technical scheme of a self-adaptive control system for engine power of a combine harvester, which comprises the following steps:
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 a 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-working condition;
the vehicle-mounted control unit is also 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 engine power self-adaptive control system 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 and working conditions are optimally matched, 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 relates to a self-adaptive control method for engine power of a combine harvester, which comprises the following steps:
the vehicle-mounted control unit receives a target power mode of an engine of the combine harvester, which is set by a user, or judges 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 judges 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-working condition;
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 and working conditions are optimally matched, 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 relates to a combine harvester, which comprises the engine power self-adaptive control system of any one of the combine harvesters.
Drawings
FIG. 1 is a schematic diagram of a system for adaptively controlling engine power of a combine harvester according to an embodiment of the invention;
FIG. 2 is a flow chart of adjusting a current speed of an engine to a speed of the engine corresponding to a target power mode;
FIG. 3 is a schematic diagram of an operating mode control flow;
FIG. 4 is a schematic diagram of a non-operating condition control flow;
FIG. 5 is a schematic diagram of a power mode;
fig. 6 is a schematic flow chart of a method for adaptively controlling engine power of a combine harvester according to an embodiment of the invention.
Detailed Description
As shown in fig. 1, an engine power adaptive control system of a combine harvester according to an embodiment of the present invention includes a vehicle-mounted control unit;
the vehicle-mounted control unit is used for: receiving a target power mode of an engine of the combine harvester, which is 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 operation data of the combine harvester when the combine harvester is in a non-working condition;
the entity corresponding to the vehicle-mounted control unit is a controller or a chip.
According to different working condition requirements, the power of the engine of the combine harvester is set to four different power modes, namely a heavy load power, a medium load power, a light load power and a transfer power mode, wherein the heavy load power is 460kw, the medium load power is 360kw, the light load power is 230kw, the transfer power is 180kw, the displacement of the pump can be changed by adjusting the current value of the pump in the heavy load power mode, the medium load power and the 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 modes, and the power of the engine is fully utilized. The rotation speed of the engine can be set through a hand throttle in each power mode, and the rotation speeds of the engines corresponding to the heavy load power mode, the medium load power mode and the light load power mode are 1900r/min. The specific values of the rotational speeds of the engines corresponding to the different power modes are set according to actual conditions.
When the engine of the combine harvester is in the transfer power mode, the operation of the combine harvester is not performed, and only in the running process, the rotating speed of the engine is set through a hand throttle and is used as the rotating speed corresponding to the transfer power mode, and the value range of the rotating speed value is 1000-1900r/min.
The vehicle-mounted control unit receives a target power mode selected by a user from four power modes of heavy load, medium load, light load and transfer, or judges that the target power mode of the engine is heavy load, medium load, light load or transfer according to the current average load rate of the engine of the combine when the combine is in a working condition, or judges that the target power mode of the engine is heavy load, medium load, light load or transfer according to the current running data of the combine when the combine is in a non-working condition.
Wherein, the current operation data of the combine harvester comprises: full grain state, grade and drive mode.
The vehicle-mounted control unit is also used for: adjusting the current rotational speed of the engine to the rotational speed of the engine corresponding to the target power mode, specifically: the vehicle-mounted control unit specifically utilizes a fuzzy PID control strategy, and adjusts 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 proportional electromagnetic valve of the pump is controlled by calculating and outputting a real-time current signal through detecting the change and the change rate of the rotating speed of the engine, and 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, and in order to improve the control precision, a fuzzy PID control strategy is added, specifically:
the fuzzy PID control strategy takes the engine speed deviation and the change rate of the deviation as input, wherein the speed deviation is as follows: deviation between the actual rotation speed and the target rotation speed of the engine, the rotation speed deviation change rate is: the rate of change between two consecutive rotational speed deviations;
the vehicle-mounted control unit continuously acquires the engine rotating speed deviation and the change rate of the deviation, and obtains three corresponding PID 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 situations. 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, i.e., the engine rotation speed deviation is greater than 50, the proportionality coefficient is as large as possible, for example, 15, and at this time, the engine rotation speed deviation can be reduced rapidly, but the proportionality coefficient is too large, which leads to an increase in the rate of change of the deviation, and at this time, a small differential coefficient is required to suppress the increase in the rate of change of the deviation, for example, the differential coefficient is 2, and a small integral coefficient is required, for example, 0, in order to avoid overshoot;
2) When the deviation between the actual rotation speed of the engine and the target rotation speed, i.e., the engine rotation speed deviation, is 25-50, in order to improve the stability, it is necessary to appropriately increase the values of the proportional coefficient and the integral coefficient, for example, the proportional coefficient is 10, the integral coefficient is 3, and for the differential coefficient, if the engine rotation speed deviation is greater than 30, the value of the differential coefficient takes a little smaller value, such as the differential coefficient takes 1, and otherwise takes a larger value, such as the differential coefficient takes 1.5.
3) When the deviation between the actual rotation speed of the engine and the target rotation speed, i.e. the deviation of the rotation 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 differential coefficient with proper magnitude, for example, 1.3, is desirable to improve the response speed of the system.
It should be noted that, the user may determine specific values of different proportional coefficients, integral coefficients and differential coefficients according to actual conditions, such as specification parameters of different engines of the combine harvester, and the vehicle-mounted control unit creates a fuzzy control rule table according to the fuzzy rule, calculates the magnitudes of the proportional coefficients, the integral coefficients and the differential coefficients by looking up a table, and then calculates the final output by linear combination, so that the engine speed is stabilized at the target speed, that is, the 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, which is 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 operation data of the combine harvester when the combine harvester is in a non-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 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, the engine is in a non-operation working condition, wherein the preset roller rotating speed threshold value can be 300r/min, and the specific value of the preset rotating speed threshold value can be set according to actual conditions.
Or, the grain lifting operation speed sensor of the combine harvester is used for acquiring the grain lifting operation speed, judging whether the engine is in an operation working condition according to the grain lifting operation speed, when the grain lifting operation speed is larger than a preset grain lifting operation speed threshold value, indicating that the engine is in the operation working condition, otherwise, the engine is in a non-operation working condition, wherein the preset grain lifting operation speed threshold value can take a value of 300r/min, and the specific value of the preset grain lifting operation speed threshold value can be set according to actual conditions.
Or, the hybrid lift operation speed sensor of the combine harvester is used for obtaining the hybrid lift operation speed, judging whether the engine is in the working condition according to the hybrid lift operation speed, when the hybrid lift operation speed is larger than the preset hybrid lift operation speed threshold, indicating that the engine is in the working condition, otherwise, the engine is in the non-working condition, the preset hybrid lift operation speed threshold can take a value of 300r/min, and the specific value of the preset hybrid lift operation speed threshold can be set according to the actual situation.
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 the actual rotation speed: acquiring the actual rotation speed of an engine;
s103, calculating the rotation speed deviation and the rotation speed deviation change rate:
wherein, the rotational speed deviation is: deviation between the actual rotation speed and the target rotation speed of the engine, the rotation speed deviation change rate is: 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;
s105, controlling a variable pump proportional valve according to the PWM value, and further adjusting the current rotation speed of the engine to the rotation speed of the engine corresponding to the target power mode.
Because the working condition of the combine harvester is complex, the requirements of different working conditions on the dynamic property and the economical efficiency of the engine are also different, based on the fact that the split working condition control is added in the invention, the split working condition control is mainly divided into an operation working condition and a non-operation working condition, the control strategy under the operation working condition mainly judges the target power mode of the engine according to the average load rate, and the control strategy under the non-operation working condition mainly judges 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 through any one or any combination of the rotation speed of the axial-flow roller, the rotation speed of the seed lift conveyer and the rotation speed of the impurity lift conveyer.
Under the working condition, the vehicle-mounted control unit can determine a 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 engine power is firstly switched into a preset power mode, different crop types have different preset power modes, the preset power modes can be set according to actual conditions, then the current average load rate is calculated every set time, when the average load rate is lower than the minimum value of the set threshold range, the power mode is automatically switched into the power mode of the lower level, and when the average load rate is higher than the maximum value of the set threshold range, the power is automatically switched into the power mode of the higher level. 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 minimum under the working condition is the light load power mode, and in the light load power mode, when the average load rate is lower than the minimum value of the set threshold, the switching to the transfer power mode is not allowed, wherein the range of the set threshold is generally 80% -82%, and the control flow is shown in the figure 3 and comprises the following steps:
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 factor 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 is allowed to be switched, 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, and if not, executing S209; s207, automatically switching to a power mode of a lower stage, specifically:
at this time, it is explained that the lower-stage power mode is the target power mode, the switching is made to the lower-stage power mode, and then the current rotation speed of the engine is adjusted to the rotation speed of the engine corresponding to the lower-stage power mode.
S208, automatically switching to a power mode of a higher stage, specifically:
at this time, it is explained that the higher-level power mode is the target power mode, the power mode is switched to the higher-level power mode, and then the current rotation speed of the engine is adjusted to the rotation speed of the engine corresponding to the higher-level power mode.
S209, maintaining a current power mode; specifically:
at this time, the current power mode is the target power mode and is kept unchanged.
Wherein, the current operation data of the combine harvester comprises: full grain state, grade and drive mode. The process of determining the target power mode of the engine according to the current operating data of the combine harvester comprises the following steps: in a non-operating 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-load power mode is determined to be a target power mode, and engine power is automatically switched to the heavy-load power mode, if the current driving mode is not the four-wheel driving mode, the gradient of the current combine harvester is judged by an inclination sensor of the combine harvester, the gradient is divided into four intervals, namely, the gradient is smaller than 5 DEG to 10 DEG, 10 DEG to 15 DEG and more than 15 DEG, when the gradient of the combine harvester is more than 15 DEG, the heavy-load power mode is determined to be the target power mode, and when the gradient of the combine harvester is more than 15 DEG, the gradient of the combine harvester is in a grain full state, firstly, the combine harvester is determined to be in a grain full state, if the gradient of the combine harvester is in a grain full state, the heavy-load power mode is determined to be the target power mode, if the combined harvester is not in a grain full state, the middle-load power mode is determined to be the target power mode, and the middle-load power is switched to be the middle-load power mode if the full-load power is not full, firstly, if the combine harvester is in a grain full-load power is not determined to be in a grain full state, and if the full-load power is not in a grain power is determined to be in a grain full state is determined to be the target power mode, 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 shown in fig. 4.
Optionally, in the above technical solution, the system further includes an intelligent display terminal, where 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: and displaying the operation data of the engine sent by the engine ECU.
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, and information such as axial flow roller rotating speed, seed lifting rotating speed, impurity lifting rotating speed, four-wheel driving state and the like is displayed through the intelligent display terminal, and parameters such as a power selection mode, crop types and the like are set through the parameter setting unit. The engine ECU transmits some running parameters of the engine such as the engine speed, average load rate and the like to the vehicle-mounted control unit and the intelligent display terminal through the CAN bus besides controlling the engine speed. The vehicle-mounted control unit is an input signal acquisition and control signal output unit and is mainly used for acquiring various sensor signals, controlling the current output of the pump and the like.
The roller rotating speed sensor is arranged at the shaft end of the roller, 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 speed sensor is arranged on an output shaft of the gearbox, and can acquire the running speed of the combine harvester in real time and send the running speed to the vehicle-mounted control unit.
The seed lifting operation speed sensor is arranged at the input shaft end of the seed lifting conveyor, can acquire the seed lifting operation speed in real time in the working process, and sends the seed lifting operation speed to the vehicle-mounted control unit.
The miscellaneous surplus lift operation speed sensor is arranged at the input shaft end of the miscellaneous surplus lift conveyer, can acquire the rotational speed of the miscellaneous surplus lift conveyer in the working process in real time and sends the rotational speed to the vehicle-mounted control unit.
The inclination sensor is arranged at the center of the 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 grain full sensor is arranged on the side wall of the grain tank, can acquire grain full information and sends the grain full information to the vehicle-mounted control unit.
Engines are designed with a variety of power output curves. For example, there are four power output curve modes in one specific application: transferring, light loading, medium loading and heavy loading. The power output by these four modes becomes successively higher as shown in fig. 5.
The whole vehicle controller determines the power which is required to be output by the engine currently according to different crops and different working conditions, then sends the power to the engine ECU through a CAN message, and the ECU carries out mode change according to the message and executes a corresponding engine power output curve.
The display screen can be used to select manual mode or automatic switching mode and different crops (such as wheat, soybean, corn), when the mode control is manual, which mode the engine is in (such as transfer, light load, medium load, heavy load) can be selected on the screen. When the automatic switching mode is selected, the power output mode of the engine is comprehensively judged 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-duty;
2) When the vehicle climbs a slope, the gradient is more than or equal to 10, and the power of the engine is switched to be heavy-duty at the moment; 5< grade < 10, at which time engine power is switched to medium load.
3) The vehicle is in a non-operation working condition, the grain tank is in a 3/4 grain full state, and the power of the engine is switched to be heavy-duty.
4) The vehicle is in a non-operation working condition, the grain tank is not full, and if the gradient is less than or equal to 5 and the walking speed is greater than 1, the power of the engine is switched to be transferred.
5) When the vehicle is in the working condition, the judgment is needed according to the harvested crops. When wheat and corn are harvested, the power of the engine is firstly switched to a heavy load mode, then the average load rate is judged every 30s (grain unloading time is removed at intervals), when the average load rate is lower than 80%, the power is automatically switched to a medium load, and when the power is in the medium load, the average load rate is higher than 80%, and the power is automatically switched to the heavy load; when the average load rate is lower than 80%, the load is automatically switched to the light load, and when the average load rate is higher than 80%, the load is switched to the medium load, and then the average load rate is judged in a circulating mode. The lowest operation working condition is a light load mode, and in the light load mode, when the average load rate is lower than 80%, the switching to the transfer mode is not allowed. When harvesting soybeans, the engine power is first switched to medium load, and then it is determined which mode to switch to based on the average load factor, specifically with reference to wheat and corn.
6) Judging working conditions: judging whether the working mode is currently in or not according to the rotating speed of the axial-flow roller or the rotating speed of the seed lifting operation or the impurity lifting operation.
7) The gradient is obtained by a gradient sensor.
The functions performed by the display screen may be replaced by other pieces depending on the particular application scenario.
According to the specific application scene, the condition for judging and selecting the engine power curve can be flexibly changed. But not limited to conditions such as crop type, grade, speed, average load factor, full grain, etc.
The engine is used as the most 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. The power requirements of the engine are different under different working conditions, for example, when the harvester is in the working conditions, the power is required to be determined according to different harvested crops, for example, when wheat and corn are harvested, larger power is required, when soybean is harvested, smaller power is required, even when the same crop is harvested, the power requirements of the engine are different due to different crop densities, crop heights, grain water content and the like, and the power of the engine is required to be judged according to the average load factor. When the harvester is in a non-working condition, the power is required to be determined according to the current state of the harvester, for example, when the harvester climbs a slope or is transported full of grain, larger power is required, and when the harvester does not climb a slope and is not full of grain, smaller power is possibly required. In order to meet the power output requirements of the load 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 with the engine power capable of being 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 engine power output is determined according to the manual selection mode, 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; after the user selects the automatic mode, the vehicle-mounted control unit carries out self-adaptive control on the engine power by collecting the information such as the engine rotating speed, the axial-flow roller rotating speed, the seed lift conveyor rotating speed, the impurity lift conveyor rotating speed, the average load rate, the four-wheel drive state, the grain full information, the crop type and the like, and the engine power is adjusted to be optimally matched with the working condition, so that the whole process is simple to operate, the intelligent degree is higher, the engine power utilization rate is greatly improved, and the fuel consumption is reduced.
In the invention, the engine power is set into four different power modes, namely heavy load, medium load, light load and transfer, and the engine power output is adjusted in real time based on the engine power matching control under different working conditions and the actual working condition judgment 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 through the power matching control of the engine under different working conditions. Moreover, the intelligent display terminal can select mode switching, and when the self-adaptive control system fails, manual selection can be performed.
As shown in fig. 6, a method for adaptively controlling engine power of a combine harvester according to an embodiment of the invention includes the following steps:
s1, receiving a target power mode of an engine of a combine harvester, which is 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 operation data of the combine harvester when the combine harvester is in a non-working condition;
s2, 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.
Optionally, in the above technical solution, the adjusting, by the on-board 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, and adjusts 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: the intelligent display terminal displays the operation data of the engine sent by the engine ECU.
In the above embodiments, although steps S1, S2, etc. are numbered, only specific embodiments are given herein, and those skilled in the art may adjust the execution sequence of S1, S2, etc. according to the actual situation, which is also within the scope of the present invention, and it is understood that some embodiments may include some or all of the above embodiments.
The implementation of each step in the method for adaptively controlling the engine power of a combine harvester according to the present invention may refer to the content in the embodiment of the system for adaptively controlling the engine power of a combine harvester according to the present invention, which is not described herein.
The embodiment of the invention provides a combine harvester, which comprises the engine power self-adaptive control system of any one of the combine harvesters.
Those skilled in the art will appreciate that the present invention may be implemented as a system, method, or computer program product.
Accordingly, the present disclosure may be embodied in the following forms, namely: either entirely hardware, entirely software (including firmware, resident software, micro-code, etc.), or entirely software, or a combination of hardware and software, referred to herein generally 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, which contain computer-readable program code.
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. The computer readable storage medium can be, for example, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. 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 thereof. In 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.
While embodiments of the present invention have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the invention, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the invention.
Claims (8)
1. The engine power self-adaptive control system of the 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 a 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-working condition;
the vehicle-mounted control unit is also used for: adjusting the current rotating speed of the engine to the rotating speed of the engine corresponding to the target power mode;
the current operation data of the combine harvester comprises: full grain state, grade and drive mode.
2. The combine engine power self-adaptive control system according to claim 1, wherein the vehicle-mounted control unit specifically utilizes a fuzzy PID control strategy to adjust 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.
3. The combine engine power adaptive control system of 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. A combine harvester engine power adaptive control system as in claim 3, wherein the intelligent display terminal is further configured to: and displaying the operation data of the engine sent by the engine ECU.
5. A combine engine power adaptive control method, comprising:
the vehicle-mounted control unit receives a target power mode of an engine of the combine harvester, which is set by a user, or judges 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 judges 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-working condition;
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 current operation data of the combine harvester comprises: full grain state, grade and drive mode.
6. The method according to claim 5, wherein the on-board control unit adjusts the current rotation speed of the engine to the rotation speed of the engine corresponding to the target power mode, comprising:
the vehicle-mounted control unit specifically utilizes a fuzzy PID control strategy, and adjusts 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.
7. The method for adaptively controlling power of an engine of a combine harvester according to claim 6, 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.
8. A combine harvester comprising a combine harvester engine power adaptive control system as in any one of claims 1 to 4.
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| US12017633B2 (en) * | 2021-03-24 | 2024-06-25 | Deere & Company | Intelligent power allocation systems onboard hybrid combines and associated methods |
| CN116085137A (en) * | 2023-02-28 | 2023-05-09 | 潍柴雷沃智慧农业科技股份有限公司 | A control system and control method for a harvesting machinery hydrostatically driven vehicle |
| CN116171711B (en) * | 2023-03-30 | 2024-12-20 | 广东皓耘科技有限公司 | Load power control method and device and control equipment |
| CN116591833A (en) * | 2023-05-19 | 2023-08-15 | 潍柴雷沃智慧农业科技股份有限公司 | Engine control method, system, medium and equipment for walking grain unloading agricultural machinery |
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| CN207485549U (en) * | 2017-11-07 | 2018-06-12 | 国机重工（洛阳）建筑机械有限公司 | A kind of engine power Adaptable System |
| CN110131058B (en) * | 2019-06-03 | 2021-12-21 | 潍柴动力股份有限公司 | Power matching control method and device |
| CN213427048U (en) * | 2020-05-22 | 2021-06-15 | 沃得农机(沈阳)有限公司 | Power gear shifting structure of harvester cutting, drying, direct harvesting and picking integrated machine |
| US12017633B2 (en) * | 2021-03-24 | 2024-06-25 | Deere & Company | Intelligent power allocation systems onboard hybrid combines and associated methods |
| CN114263541B (en) * | 2021-12-29 | 2022-12-13 | 柳州柳工挖掘机有限公司 | Excavator control method and excavator |
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