JPH022573B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is provided with a transmission for driving that is interlocked and connected to an engine, and a sensor that detects the rotational speed of the engine. and a deviation calculation means for periodically calculating the deviation, and operating the transmission to shift the transmission based on the calculated deviation so that the rotation speed of the engine is maintained within a predetermined range with respect to the control target value. The present invention relates to an agricultural machine provided with a control means.

In order to perform a gear shift operation based on the calculated deviation, it has generally been configured to immediately perform a gear shift operation based on the deviation each time the deviation is calculated.

By the way, the load acting on the engine often increases and decreases repeatedly due to minute changes in the working conditions, and therefore the engine speed also increases and decreases repeatedly.

Therefore, if the deviation is repeatedly positive and negative, it can be assumed that the load acting on the engine is appropriate, and there is no need to change gears. However, in the conventional configuration, , since unnecessary gear shifting operations are performed, there is a disadvantage that it is difficult to stabilize the control, and there is also a disadvantage that the service life is shortened because the actuators for carrying out gear shifting operations have to operate more frequently. .

On the other hand, the load acting on the engine often increases rapidly due to large changes in the working conditions, and therefore the engine speed may also suddenly decrease over a large range.

Therefore, if the engine speed tends to decrease rapidly over a large range and the engine speed becomes smaller than the control target value, the subsequent increase in load may cause the engine to stop, etc. In order to avoid causing trouble, it is desirable to perform deceleration operations quickly.

The present invention has been made in view of the above-mentioned circumstances, and its purpose is to suppress unnecessary gear shifting operations, and to enable necessary gear shifting operations to be performed accurately with an appropriate amount of operation. be.

The characteristic configuration of the agricultural machine according to the present invention is such that the control means for shifting the driving transmission based on the deviation between the detected value of the engine frequency and the control target value has the same polarity as the deviation that is periodically and sequentially outputted. A variation value output means configured to perform a gear change operation only when the above continues a predetermined number of times, and calculates a variation value by subtracting the current detection value of the sensor and the previous detection value; When the detected value is smaller than the control target value and the fluctuation value is smaller than a negative predetermined value, a deceleration control means that decelerates the transmission with an operation amount that increases as the deviation increases. The functions and effects are as follows.

In other words, the transmission is operated only when the calculated deviation has the same positive and negative values for a predetermined number of times, and the transmission is not performed when the deviation is repeatedly positive and negative. do.

Moreover, while calculating the fluctuation value, if the detected value is smaller than the control target value and the fluctuation value is smaller than a negative predetermined value, that is, the current engine speed is lower than the control target value. If the deviation is small and the engine speed tends to rapidly decrease over a large range, the speed is immediately decelerated by an appropriate operation amount according to the deviation.

To explain, if you try to shift gears while checking the positive and negative deviations a predetermined number of times, unnecessary gear shifting operations can be controlled, but there is a risk that deceleration operations will be delayed. This allows the deceleration operation to be performed accurately with an appropriate amount of operation depending on the deviation.

Therefore, the following effects can be obtained by the above-mentioned action.

In other words, by controlling unnecessary gear shifting operations, it is possible to stabilize the control and extend the service life.In addition, while obtaining these advantages, it is possible to perform necessary deceleration operations appropriately according to deviations. It is now possible to reliably prevent troubles such as engine stoppages by controlling the amount accurately.

Embodiments of the present invention will be described below with reference to the drawings.

As shown in Fig. 1, a machine body 1 equipped with a crawler traveling device 2 is used to raise and reap a grain culm planted in a field, and while transporting it backwards, changes its posture to a sideways posture. A reaping section 4 that delivers to the feed chain 3, and the feed chain 3
A threshing device 5 is provided for threshing and sorting and collecting the grain culms held and conveyed by the culms, thereby forming a combine harvester as an agricultural working machine.

To transmit power to the crawler traveling device 2,
As shown in FIG. 1, it is configured to transmit power from an engine 6 via a hydraulic continuously variable transmission 7.

On the other hand, the threshing device 5 is configured to directly transmit power from the engine 6 via a belt-type transmission mechanism 8, and in order to detect the load state on the threshing device 5, the rotating shaft of the threshing device 5 is connected to the A rotational speed detection sensor _S1 is provided which is connected to each other and generates a pulse signal in proportion to the rotational speed of the threshing device 5 and the engine 6.

To operate the shift position of the transmission 7, the shift operation arm 9 provided on the transmission 7 and the shift operation lever 11 provided on the driving section 10 are interlocked via links 12, 12 and a bell crank 13. It is connected. Further, a motor 15 is connected to the bell crank 13 via a friction transmission mechanism 14, and by controlling the rotation of the motor 15 by a control device 16, which will be described later, the transmission 7 is automatically activated.
The gear shift position can be operated manually by the operating lever 11, and the gear can be forcibly shifted against the frictional force of the friction transmission mechanism 14 in an emergency, when turning on a headland, etc. It is also possible to operate it.

Hereinafter, a control system for vehicle speed control that operates the shift position of the transmission 7 based on the rotation speed detection result of the engine 6 by the rotation speed detection sensor _S1 will be described.

As shown in FIG. 2, the control system includes a control device 16 whose main part is a microcomputer, the rotation speed detection sensor S ₁ and the target value of the load state to be maintained, that is, the output rotation speed of the engine 6. The signal from the potentiometer _S2 is input as a means for setting the control target value _E0 , and the detected value En by the rotational speed detection sensor _S1 is input.
The vehicle speed is controlled by rotating the motor 15 in forward and reverse directions and automatically controlling the shift position of the transmission 7 so that E0 is maintained within a predetermined range with respect to the control target value _E0 . There is.

That is, using the control device 16, the deviation Dn between the detected value (sometimes referred to as a sampling value) En of the rotation speed sensor S ₁ and the control target value E ₀ is determined.
(also referred to as deviation D) periodically, so that the rotation speed of the engine 6 is maintained within a predetermined range with respect to the control target value E ₀ ;
A control means for changing the speed of the transmission 7 based on the calculated deviation Dn, and a variation for calculating a fluctuation value An by calculating the current detection value En of the rotation speed sensor S ₁ and the previous detection value En _-1 . a means of pricing, and
When the detected value En is smaller than the control target value E ₀ and the fluctuation value An is smaller than the negative predetermined value −K, the transmission 7 is operated with a larger operation amount as the deviation Dn becomes larger. Various control means such as a deceleration control means for performing a deceleration operation are configured. However, the control means for increasing and decelerating the gear is configured to perform the gear change operation only when the successively calculated deviations Dn have the same sign or minus for a predetermined number of times.

Next, an explanation will be given while describing the operation of the control device 16. The number of output pulses En from the rotation speed detection sensor S ₁ is repeatedly sampled at intervals of a predetermined time t, and the difference between the previous sampling value E _o-1 and the new sampling value E _o , that is, the fluctuation value An of the engine rotation speed is determined. and control target value E ₀
The deviation Dn is calculated and stored.

Next, if this deviation is positive, that is, the sampling value En is larger than the target value _E0 , check whether the deviation D _o-1 calculated at the previous rotation speed sampling is positive, that is, the variation is in the same direction, and If the deviation D _{o-1 of} The deviation Dn of the sampling value En is stored as the previous deviation D _o-1 .

When the count value W of the counter reaches a predetermined number of times W _{0 or} more, as shown in FIG. In order to increase the speed by rotating the motor 15 at the time interval, the operation amount G corresponding to the average value D of the deviation D _o , D _{o-1 .} . . is multiplied by the predetermined number of times W ₀ . The speed change operation is performed based on the amount. Incidentally, when the count value W is less than a predetermined number of times W ₀ or when the direction of rotational speed fluctuation is different, the speed change operation is not performed, and the system is configured not to respond to random load fluctuations.

On the other hand, if the deviation Dn between the sampling value En and the target value _E0 is negative, check the magnitude of the fluctuation amount An, and if there is a fluctuation of more than a predetermined value K, that is, a sudden increase in load, and the sampling If the difference from the fluctuation value A _o-1 is greater than a predetermined value Kx, the deceleration operation is immediately performed using the operation amount Gn corresponding to the deviation Dn, and the fluctuation value An is changed to the predetermined value K.
If less than, the detected variation value An and the previous variation value
If the difference from A _o-1 is less than the predetermined value Kx, the deviation Dn
In the same way as when is positive, check the direction of change and perform deceleration operation with the manipulated variable W ₀ times the predetermined number of times W 0 times the manipulated variable G corresponding to the average value D of the deviation Dn, D _o-1 ... of the predetermined number of times W ₀ It is configured as expected.

In FIG. 2, SW is a switch for selecting automatic or manual vehicle speed control, and FIG. 3 is a flowchart showing the operation of the control device 16 described above.
Further, FIG. 4 is an explanatory diagram showing the relationship between the average value D, the deviation Dn, and the shift operation amount G.

Further, the relationship between the deviation D and the shift operation amount G is stored in a table in advance in a memory (not shown) provided in the control device 16.

Furthermore, the shift operation amount G may be set not in correspondence with the average value D, but in correspondence with the fluctuation value An of the rotation speed or the sampling value En.

[Brief explanation of drawings]

The drawings show an embodiment of the agricultural machine according to the present invention,
Figure 1 is an overall side view of the combine harvester, Figure 2 is a block diagram of the control system, Figure 3 is a flowchart showing the operation of the control device, and Figure 4 is an explanatory diagram of the relationship between load fluctuation and shift operation amount. It is. 6... Engine, 7... Transmission, W ₀ ... Predetermined number of times, En... Load fluctuation sampling value, E ₀ ...
...Control target value, Dn...Difference, D...Average value of deviation, An, A _o-1 ...Variation value, Kx...Predetermined value, G,
Gn...Manipulated amount.

Claims (1)

[Claims] 1 A transmission device 7 for driving that is interlocked and connected to the engine 6 and a sensor S ₁ that detects the rotation speed of the engine 6 are provided, and the detected value of the sensor S ₁ is provided.
a deviation calculation means for periodically calculating a deviation Dn between En and the control target value E ₀ ; and a deviation calculating means for calculating the deviation Dn between En and the control target value E ₀ , The agricultural machine is provided with a control means for controlling the speed of the transmission 7 based on the deviation Dn, wherein the speed control means comprises:
The gear shift operation is performed only when the positive and negative values of the deviation Dn that are sequentially calculated are the same for a predetermined number of times, and the current detection value En of the sensor _S1 and the previous detection value En _- Fluctuation value calculation means for calculating a fluctuation value An by subtraction with ₁ , and
When the detected value En is smaller than the control target value E ₀ and the fluctuation value An is smaller than a negative predetermined value, the transmission 7 is decelerated by a larger operation amount as the deviation Dn becomes larger. An agricultural machine equipped with a control means for deceleration.