• 专利附录
  • 专利说明
  • 权利要求
  • 类似技术
  • 同族专利
  • 引用文献
  • 法律状态
  • 优先权
    • 专利摘要:
    This invention relates to the automation of soil tillage machines. The purpose of the invention is to eliminate undesirable displacement of the lifting mechanism. The device contains a power sensor 1, a position sensor 2 with a position parameter setting device 3, a mixing sensor 4, a controller 5, a storage unit 7, a differential amplifier 8, a regulator 9, a proportional integral-differentiating (DID) controller 16. If The work i is switched on the setting device 3 of the position parameters, the differentiating link 26 of the CCM gives a signal to the PID controller 16 when the position of the working tool changes. 5 hp f-ly, 2 ill. // cm
    公开号:SU1276241A3
    申请号:SU823470946
    申请日:1982-07-20
    公开日:1986-12-07
    发明作者:Арнольд Винфрид
    申请人:Роберт Бош Гмбх (Фирма)；
    IPC主号:
    专利说明:

    The invention relates to agriculture, in particular to devices for automating tillage machines.
    The purpose of the invention is to eliminate undesirable displacement of the lifting mechanism.
    FIG. 1 shows a device for regulating agricultural machinery; in fig. 2 - the same, with a comparator.
    The device contains a power sensor 1, a position sensor 2 with a setting device 3 for the position parameter, a setting unit 4 for mixing and a controller 5, an actuator 6, a storage unit 7, a differential amplifier 8, a second controller 9 made in the form of a PI controller, and a memory unit 7 has a switch 10. The device is equipped with a comparator 11 with a control input, as well as a delay element 12, an OR 13 element, a manual switch 14, a priority circuit 15, a PID controller 16.
    The priority circuit 15 comprises a diode 17 connected in parallel, a resistor 18 and a capacitor 19. A mixing device 4 is connected to a mixer 20. A comparator 21 is connected to diodes 22 and 23 and a resistor 24. Element I 25 is connected to the input of the element OR 13. Differentiating element 26 is associated with trigger 27.
    Potentiometer 28 is connected to differentiating link 29. Output comparator 30 is connected to trigger 27, and position sensor 2 is connected to setpoint parameter 3 through position resistors 31 and 32.
    The device works as follows.
    If the setpoint parameter setting device 3 is in operation, the differentiating link 25 sends a signal to the PID controller 16, when the position of the working tool of the farm machinery is changed, the trigger 27 is activated and at the same time the capacitor 19 is charged through the diode 17.
    Diodes 22 and 23 form, together with resistor 24, a circuit for determining maximum values. Only the maximum value that goes to the diodes 22 or 23 goes to the input of the comparator 21. If trigger is set 27, this value is on diode 22. This value also serves
    setting the potentiometer of the second mixer 20. If the trigger 27 is installed at the same time, then the control input of the second mixer 22 is very
    large value. This means that the potentiometer of the mixer 20 is set so that only the position signal from the position sensor 2 is fed to the PID controller 16. By determining the maximum value, it is achieved that the output value of the trigger 27 is fed to the comparator 21. Through the output of the comparator 21 PID controller 16
    5 is tuned so that it has only a very weak integral component, i.e. essentially works as a DD controller (proportional controller with an impact
    0-derivative). The trailed implement from its original position very quickly takes the desired position. If the control deviation in the PVD controller 16 code is close to zero, this is determined by means of a comparator 30 with an indication, through the output of which the trigger 27 is switched, after which the OR 13 element is switched and the value fed to the PI regulator 9 is transmitted to storage drive 7. Capacitor 19 is slowly discharged through resistor 18. Thanks to this discharge process, the mixer potentiometer
     20 moves slowly until it is set up with the discharged capacitor 19 so that only the input of the setting device 4 mixes through the (the tensiometer of the mixer 20 enters
    0 PID controller input .16. Such a transition process contributes to
    that switching from regulation to mixed regulation does not occur immediately, and the transition is carried out smoothly on the transition function. This transition function can be arbitrarily complex. However, the choice of the 1-function gives the simplest type of scheme. After discharge
    0, the capacitor 19 parameter from the setting unit 4 of the mixing includes directly the PID controller 16. At a given time, the voltage on the diode 22 exceeds the voltage supplied
    权利要求:
    Claims (6)
    [1]
    5 to diode 23. The comparator 21 is switched so that the regulating structure of the PST regulator 16 is changed. The voltage on the diode 23 depends on the magnitude of the potentiometer 28, which is included with the setting unit 4 mixing. The IID controller 16 has particularly preferred properties if its integral component increases as a function of the mixing force. Switching comparator 21 causes the integral component of the PID controller 16 to twist when the specified power signal component is fed to the Hybrid controller 16 through the mixing setpoint adjuster 4. The cause of this is the increased power signal noise at the output of the power sensor 1. Therefore, the comparator 21 is adjusted in such a way that it does not switch when the setpoint adjuster 4 is neither adjusted so that the position signal of the position sensor 2 substantially dominates. It is possible to replace the comparator 21 with an amplifier, which continuously changes the regulating structure of the PID controller 16. The differentiator 29 outputs a pulse when the predetermined mixing amount is changed by means of the mixing setter. Due to this, a new rationing of the signal of the power sensor 1 is also provided. With the help of the switch 14, the driver can give a new rationing manually. Depending on the position of the setting unit 4, it may be that, as a result of the occurrence of force, the position of the trailed implement changes so much that the PID controller 16 finds from its control zone at the limit. In this case, it is advisable to implement a new standardization. The forces generated are determined by means of a comparator 11 with indication. The output signal of the differential amplifier 8 is normalized by a position signal, so that the indication range of the comparator 11 corresponds to the effective normalization. This is done in such a way that the position parameter parameter is also fed to the comparator 11, and the indication range of the comparator 11 is set by a signal of a predetermined position value. The delay element 12 and the element 25 serve to filter out the power peaks. Short-term peaks, which, for example, can be caused by the presence of stones in the soil, should not lead to a new rationing. The new valuation is set by the storage device 7 through the element ShB1 13 only when the power signal through the delay time specified by the delay element 12 enters the comparator 11. If this happens, a new normalization is carried out. In this way, undesirable displacement of the lifting mechanism is avoided. Claim 1. A device for controlling a lifting mechanism of agricultural machines, comprising a power sensor, a position sensor with a position parameter setting device and a mixing setting device, and a regulator with an output to the actuator, characterized in that, in order to eliminate the undesirable displacement of the lifting mechanism, it is equipped a storage unit, a differential amplifier and a second controller, the first input of which is connected to the position sensor and the output to the storage unit, while the output of the power dates The switch is connected to the first input of the differential amplifier, and the output of the latter is connected to the second input of the mixing master and the second input of the second controller, while the second controller is designed as a proportional-integrating controller, and the storage unit has a switch.
    [2]
    2. The device of claim 1, which is equipped with a comparator with a control input, the output of which is connected to the switch of the storage unit, and the input is connected to the output of the differential amplifier.
    [3]
    3. A device according to claim 2, characterized in that a comparator with a control input is connected to a position parameter setting unit.
    [4]
    4. Device on PP. 1-3, this is due to the fact that it contains a delay element and an OR element, with the output of the latter connected to the switch of the storage unit, and one of its inputs is connected to the output of the delay element.
    [5]
    5. The device according to claim 4, that is, in that it is provided with a manual switch connected to the second input of the OR element.
    [6]
    6. The device according to PP. 1-5, of which it is equipped with a priority scheme and is proportional to
    a rationally integral-differentiating controller, one input of which is connected to the first controller, with one input of the last connected to the sensor via a priority circuit.
    类似技术:
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    同族专利:
    公开号 | 公开日
    EP0070354B1|1986-06-18|
    DE3128713A1|1983-02-10|
    DE3271745D1|1986-07-24|
    US4437048A|1984-03-13|
    RO84422B|1984-08-30|
    AT20414T|1986-07-15|
    RO84422A|1984-06-21|
    JPS5823704A|1983-02-12|
    EP0070354A1|1983-01-26|
    引用文献:
    公开号 | 申请日 | 公开日 | 申请人 | 专利标题
    FR1374855A|1963-11-18|1964-10-09|Int Harvester Co|Automatic traction and position control device on agricultural tractors|
    FR2171967B1|1972-02-17|1975-10-24|Renault|
    DE3017554C2|1980-05-08|1989-08-17|Robert Bosch Gmbh, 7000 Stuttgart, De|DE3337317C2|1983-10-13|1988-03-03|Mannesmann Rexroth Gmbh, 8770 Lohr, De|
    DE3342006C2|1983-11-22|1992-09-17|Robert Bosch Gmbh, 7000 Stuttgart, De|
    DE3342007C2|1983-11-22|1993-12-09|Bosch Gmbh Robert|Control device for a hoist in a tractor with transmission gear|
    US4846283A|1987-09-08|1989-07-11|J. I. Case Company|Engine-sensing draft control system with multiple feedback compensation mechanisms|
    US4881057A|1987-09-28|1989-11-14|Ranco Incorporated|Temperature sensing apparatus and method of making same|
    US4807136A|1987-10-26|1989-02-21|Ford Motor Company|Draft load measurement and control|
    DE3739613A1|1987-11-23|1989-06-01|Vdo Schindling|DEVICE FOR THE ELECTRICAL TRANSMISSION OF A MECHANICAL SIZE|
    DE3838497A1|1988-11-12|1990-05-17|Bosch Gmbh Robert|Device for the control of a hoist|
    US5143159A|1991-06-03|1992-09-01|Ford New Holland, Inc.|Draft control system with dual mode draft sensitivity|
    DE4333473C1|1993-09-30|1995-05-24|Siemens Ag|Circuit arrangement for limiting the output voltage of a clocked voltage regulator|
    DE4406892A1|1994-03-03|1995-09-07|Bosch Gmbh Robert|Device for controlling the ground clearance of a processing unit of an agricultural machine|
    US5884204A|1996-04-16|1999-03-16|Case Corporation|Active roadability control for work vehicles|
    US6497153B1|2000-09-28|2002-12-24|Bechtel Bwxt Idaho, Llc|Measuring spatial variability in soil characteristics|
    DE102005021887A1|2005-05-04|2006-11-16|Kässbohrer Geländefahrzeug AG|Method and device for driving stability increase of motor vehicles|
    CN101360092A|2007-07-30|2009-02-04|国际商业机器公司|Automatic information collecting method and system in message transmission system|
    CN103368512B|2013-07-10|2017-06-06|深圳市航天新源科技有限公司|A kind of multichannel differential amplifier circuit and its precision compensation method|
    法律状态:
    优先权:
    申请号 | 申请日 | 专利标题
    DE19813128713|DE3128713A1|1981-07-21|1981-07-21|DEVICE FOR NON-REACTIVE MIXING VALUE ADJUSTMENT IN LIFTS OF AGRICULTURAL MACHINERY|
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