JP3239398B2 - Vehicle body level control device in combine - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a combine and, more particularly, to an improvement in a horizontal control device for a vehicle body.

[0002]

2. Description of the Related Art Conventionally, in a horizontal control device of this type, a left / right inclination angle of a vehicle body is detected by a sensor, a deviation from the horizontal is determined from the detected inclination angle, and a right cylinder or a left cylinder is determined in accordance with the deviation. By driving, the crawler provided on the left and right sides of the vehicle body is moved up and down to control the vehicle body to be horizontal.

[0003]

However, such conventional control has a drawback in that if the response of the control is increased, overshoot will occur and hunting will occur, whereas if hunting is prevented, the response of the control will deteriorate. Was.

Therefore, the present invention solves the above-mentioned problem,
It is an object of the present invention to simultaneously improve the responsiveness of horizontal control of a vehicle body and prevent hunting.

[0005]

In order to achieve the above object, the present invention is configured as follows.

That is, according to the present invention, in a combine which can adjust the right and left heights of a vehicle body by a right-side elevating device and a left-side elevating device , an inclination angle detecting means for detecting an inclination angle of the vehicle body at predetermined time intervals; Deviation calculating means for calculating a deviation from the horizontal from the detected tilt angle of the angle detecting means, and a time of the tilt angle from the detected tilt angle of the tilt angle detecting means;
Operation for determining the operation amounts of the right lifting device and the left lifting device according to a fuzzy control rule based on a combination of a change calculation means for determining a dynamic change, and a calculated deviation of the deviation calculation means and a calculated change of the change calculation means. Volume determining means, operating means for operating the right lifting device and the left lifting device, respectively, so that the determined operating amount is obtained, and the right lifting device and the left lifting device.
And the vehicle height adjusting means for adjusting the respective operation and vehicle height, body frame
The platform mounted on the system is raised and lowered around the pitching axis.
Undulation adjusting means for adjusting

[0007]

According to the present invention, the inclination angle detecting means detects the inclination angle of the vehicle body at predetermined time intervals , the deviation calculating means calculates a deviation from the detected inclination angle with respect to the horizontal, and the change calculating means detects the inclination angle of the inclination angle detecting means. The temporal change of the inclination angle is obtained from the detected inclination angle. Therefore, as the information on the inclination of the vehicle body, in addition to the deviation from the horizontal, a temporal change of the inclination can be obtained.

[0008] manipulated variable determining means, a combination of calculation change calculated deviation and variation calculating means of the deviation calculation means, off
The operation amounts of the right lifting device and the left lifting device are determined by the fuzzy control rules . The operating means operates the right lifting device and the left lifting device respectively to achieve the determined operation amount. Also, the vehicle height adjusting means is provided for
Adjust the vehicle height by operating the
Save. The undulation adjusting means is a chassis mounted on the body frame
Is adjusted by raising and lowering about the pitching axis.

Therefore, according to the present invention, the right lifting device and the left lifting device are respectively operated in accordance with the sign of the change in the inclination even if the deviation from the horizontal is the same.
Hunting can be prevented at the same time as control responsiveness is improved. Also, the vehicle height adjusting means and the undulating adjusting means
And the height of the chassis can be adjusted.

[0010]

FIG. 1 is a side view showing the structure of a main part of an embodiment of the present invention.

In the drawing, reference numeral 1 denotes a body frame formed in a rectangular shape. A pair of front and rear brackets 2 and 3 are attached to left and right end portions of the body frame 1, and a pair of parallel links 4 and 5 are attached to the brackets 2 and 3. Attach. A crawler frame 6 is connected between the lower end of the parallel link 4 and the lower end of the parallel link 5, and a rod 7 is connected between the upper ends thereof. On the right and left sides of the body frame 1 are right-and-left elevating cylinders 8 whose rods can be extended and retracted by hydraulic pressure
A and the left elevating cylinder 8B are attached, respectively, and the rods of both cylinders 8A, 8B are connected to the upper ends of the corresponding parallel links 5.

The pair of left and right crawler frames 6, 6
The intermediate rolling wheel 9 and the tension rolling wheel 10 are rotatably mounted. A rubber crawler 13 is wrapped around the intermediate wheel 9, tension wheel 10, and a drive sprocket 12 attached to a sprocket shaft 11 driven by an engine (not shown). It is configured to drive and run by the rotation of.

With the above-described configuration, the right ascending / descending cylinder 8A
When the rod of the cylinder 8B for raising and lowering the left and right is extended and contracted, the left crawler frame 6 and the right crawler frame 6 can be simultaneously moved up or down with respect to the body frame 1 to adjust the vehicle height.

The chassis 14 mounted on the body frame 1 is
The vertical frame 15, the horizontal frame 16, and the reinforcing frame 17 are integrally connected and formed. A pair of left and right brackets 18 and 18 are integrally attached between the horizontal frame 16 at the front of the chassis 14 and the reinforcing frame 17. The connecting frames 19 to be connected are connected. A pair of left and right brackets 18,
The rear portion 18 is rotatably supported by the bracket 2 at the front end of the vehicle body frame 1 via the pitching shaft 20.

A pitching arm 22 is rotatably mounted on the rear side of the chassis 14 under the reinforcing frame 17 by an arm shaft 21. One end of the pitching arm 22 is connected to a rear end of the body frame 1 via a link 23. Connect to bracket 3. Further, the other end of the pitching arm 22 is attached to a frame 24 integral with the reinforcing frame 17 at the rear of the chassis 14, and is connected to a rod of a pitching cylinder 25 whose rod is extendable and retractable by hydraulic pressure.

With the above configuration, the pitching cylinder 2
When the rod 5 is expanded and contracted, the chassis 14 is turned up and down around the pitching shaft 20 via the pitching arm 22 and the link 23.

FIG. 2 is a block diagram of a control system according to the embodiment of the present invention. In the figure, reference numeral 31 denotes a microcomputer for performing fuzzy control as described later, which comprises a CPU, a memory, and the like. On the input side of the microcomputer 31,
Through the input interface 32, a right and left tilt sensor 33 for detecting the horizontal tilt angle of the chassis 14 and a right stroke sensor 3 for detecting the amount of expansion and contraction of the right ascending / descending cylinder 8A.
4. A left stroke sensor 35 for detecting the amount of expansion and contraction of the left elevating cylinder 8B is connected.

On the output side of the microcomputer 31,
Via the output interface 36, the right ascending / descending cylinder 8
A solenoid 37 of the solenoid valve for A and a solenoid 38 for lowering the right are connected to the solenoid valve of A, and a solenoid 39 for the solenoid valve of the cylinder 8B for raising and lowering the left and a solenoid 40 for lowering the right are connected.

An example of the operation of the embodiment configured as described above will be described below.

When power from an engine (not shown) is transmitted to the sprocket shaft 11, the crawler 13 rotates and the combine enters a running state. In the embodiment of the present invention, along with the traveling, horizontal control is performed by the following fuzzy control so that the chassis 14 is horizontal regardless of the unevenness of the ground (see FIG. 3).

First, the left-right inclination sensor 33 is provided at predetermined time intervals.
Is read (S1), and a deviation E from the horizontal from the detected inclination angle and a temporal change ΔS of the detected inclination angle are calculated (S2). Next, based on the calculated deviation E and the temporal change ΔS of the detected inclination angle, the operation amount HB1 of the left elevating cylinder 8B and the operation amount HB2 of the right elevating cylinder 8A are determined by a fuzzy control rule as described later.
Are respectively determined (S3). Then, based on the determined operation amount HB1 and operation amount HB2, each operation of the left elevating cylinder 8B and the right elevating cylinder 8A is performed (S4).

In implementing such fuzzy control,
A fuzzy control rule as shown in the table of FIG. 4 is adopted, and as is apparent from the above, the antecedent is a deviation E of the detected inclination angle with respect to the horizontal and a temporal change ΔS of the detected inclination angle. At the same time, the subsequent part is the operation amount HB1 of the left elevating cylinder 8B and the operation amount HB2 of the right elevating cylinder 8A. In the figure, the vertical column shows the value of the deviation E, the horizontal row shows the value of the change ΔS, the upper part of the table shows the value corresponding to the operation amount HB1 of the left ascending and descending cylinder 8B, and the lower part shows the value of the right ascending and descending cylinder 8A. The values corresponding to the operation amounts HB2 are shown.

Here, the label of the deviation E of the detected inclination angle from the horizontal is labeled NB: large inclination to the right NS: large inclination to the right ZO: almost horizontal PS: large inclination to the left PB: large inclination to the left means.

Further, the label of the temporal change ΔS of the detected tilt angle means that NB: tilting to the right ZO: tilt is almost unchanged PB: tilting to the left.

Further, the operation amount H of the left elevating cylinder 8B
The label of B1 means NB: shrink quickly NS: shrink slowly ZO: almost the current length PS: stretch slowly PB: stretch fast

The operation amount HB of the right ascending / descending cylinder 8A
The label 2 means NB: shrink quickly NS: shrink slowly ZO: almost the current length PS: stretch slowly PB: stretch fast

The control rule shown in FIG. 4 is expressed in the following form. For example, "if the deviation E of the detected inclination angle from the horizontal is E,
Is PB (increased to the left) and the temporal change ΔS of the detected inclination angle is PB (inclined to the left), the operation amount HB1 of the left ascending / descending cylinder 8B is set to PB (extend quickly), Set the operation amount HB2 of the right ascending / descending cylinder 8A to NB (shrink quickly). "become that way.

FIG. 5A shows the membership function of the deviation E from the horizontal, FIG. 5B shows the membership function of the temporal change ΔS of the detected inclination angle, and FIG.
FIG. 5C shows the membership function of the manipulated variable HB1 of B,
FIG. 5D shows a membership function of the operation amount HB2 of the right ascending / descending cylinder 8A.

Next, the operation amount HB of the left ascent / descent cylinder 8B
1 and the operation amount HB2 of the right ascending / descending cylinder 8A use a fuzzy inference method. That is, a control rule to which the current state value of the deviation E from the horizontal and the temporal change ΔS of the detected inclination angle belongs is considered, and when it is selected from the rules of FIG.

ΔR1: If the deviation E is ZO (almost horizontal),
If the change ΔS is NS (sloping to the right), the operation amount HB1 is NS (slowly shrinking) and the operation amount HB2
Is PS (extend fast). ｝ ｛R2: If the deviation E is NS (inclined slightly to the right) and the change ΔS is NB (inclined to the right), the manipulated variable H
B1 is NB (slowly shrink), and manipulated variable HB2 is PB
(Extend fast). FIG. 6 shows the membership functions of these control rules R1 and R2, and the degree to which these control rules are satisfied is evaluated in the figure.

Therefore, the value of the current deviation E is shown in FIG.
Assuming that the value of the change ΔS is E1 as shown in FIG. 6A and the value of the change ΔS is as shown in FIG. 6B, the degree to which the control rule R1 satisfies the value E1 of the deviation E and the value ΔS1 of the change ΔS is 0.2
6 and FIG. 6 (D), and an inference result as shown in FIG. 6 (C) or FIG. 6 (D) is obtained. The degree to which the control rule R2 satisfies the value E1 of the deviation E and the value ΔS1 of the change ΔS is 0.7 and 1.
It is 0, and the inference result as shown in FIG. 6 (C) or FIG. 6 (D) is obtained with 0.7 as the degree of conformity in the control rule R2.

FIG. 6 shows the results of these two inferences.
(C) and (c) are integrated as shown in FIG. 6 (D), and the barycentric position W1 and the barycentric position W2 of the membership function of the manipulated variable HB2 are obtained respectively. And these are final output values (operation values).

Such calculation is performed by the microcomputer 31 as described above, and the left-up solenoid 39 or the left-down solenoid 40 is driven in accordance with the calculated output value related to the final operation of the left-up / down cylinder 8B. Then, the left elevating cylinder 8B is operated. At the same time, the right raising solenoid 37 or the right lowering solenoid 38 is driven according to the output value of the operation of the right raising / lowering cylinder 8A to operate the right raising / lowering cylinder 8A.

As described above, in this embodiment, the deviation E of the detected inclination angle from the horizontal and the temporal change ΔS of the detected inclination angle are set as antecedents of the fuzzy control rule, and the operation of the left ascending / descending cylinder 8B is performed. Quantity HB1 and cylinder 8 for raising and lowering right
Since the operation amount HB2 of A is set as the consequent part, even if the deviation from the horizontal is the same, the expansion / contraction operation of the right lifting cylinder 8A and the left lifting cylinder 8A is performed in accordance with the sign of the change in the inclination angle. Therefore, responsiveness of the vehicle body horizontal control can be improved and hunting can be prevented at the same time.

[0035]

As described above, according to the present invention, the fuzzy control rule is used based on the combination of the deviation of the detected inclination angle of the vehicle body from the horizontal and the temporal change of the detected inclination angle.
Since the operation amounts of the left and right lifting devices are determined independently of each other, even if the deviation from the horizontal is the same, the left and right lifting devices properly adjust the lifting operation according to the sign of the change in the inclination angle. Therefore, the responsiveness of the horizontal control of the vehicle body can be improved and the hunting can be prevented. Ma
In addition, the right-side elevating device and the
The height of the vehicle can be adjusted by operating the left and right lifting devices respectively.
You. Furthermore, since the vehicle is provided with an up-and-down adjusting means,
The undercarriage to be mounted on
It is adjustable.

[Brief description of the drawings]

FIG. 1 is a side view showing a configuration of a main part of an embodiment of the present invention.

FIG. 2 is a block diagram illustrating an example of a control system according to the embodiment of the present invention.

FIG. 3 is a flowchart showing an example of the operation of the embodiment of the present invention.

FIG. 4 is a diagram showing an example of a fuzzy control rule applied to the embodiment of the present invention.

5A is a diagram showing a membership function of a deviation E with respect to horizontal, FIG. 5B is a diagram showing a membership function of a change ΔS in inclination angle, and FIG. 5C is an operation amount HB1 of a left ascending / descending cylinder 8B; (D) is a diagram showing a membership function of the operation amount HB2 of the right ascending / descending cylinder 8A.

FIG. 6 is an explanatory diagram illustrating an example of fuzzy inference from a control rule.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Body frame 6 Crawler frame 8A Right ascent / descent cylinder 8B Left ascent / descent cylinder 14 Chassis 31 Microcomputer 33 Left / right tilt sensor

Claims (1)

(57) [Claims] 1. A combine which is capable of adjusting the height of the vehicle body by a right-side elevating device and a left-side elevating device, wherein the inclination angle detecting means detects the inclination angle of the vehicle body at predetermined time intervals. a deviation calculating means for calculating a deviation between the horizontal from the detection angle of inclination, when the inclination angle from the detected inclination angle of the inclination angle detection means
A change calculating means for calculating between changes, from a combination of computing changes in the calculated deviation and the variation calculation means of said deviation calculation means, the operation of the left lifting device before and <br/> Symbol right lifting apparatus by fuzzy control rules Operating amount determining means for determining the respective amounts; operating means for operating the right elevating device and the left elevating device so as to achieve the determined operating amount; and operating the right elevating device and the left elevating device respectively.
The height adjustment means for adjusting the vehicle height and the chassis mounted on the body frame are centered on the pitching axis.
A vehicle body level control device comprising: an up-and-down rotation adjusting means for adjusting by turning .