The invention relates to the technical field of agricultural machine electric control, and discloses a crawler-type double-pump double-motor agricultural machine linear walking control method and system and an agricultural machine. The method comprises the steps that when a vehicle is in a linear walking control mode, the rotating speed of motors on the two sides and the absolute speed of the whole vehicle to the ground are obtained; determining a target motor rotating speed according to the absolute speed of the whole vehicle to the ground; first closed-loop control is conducted on the variable pumps on the two sides according to the motor rotating speeds on the two sides and the target motor rotating speed, and the difference values of the motor rotating speeds on the two sides and the target motor rotating speed meet the first preset condition; and after the first closed-loop control is completed, the vehicle course angle is obtained, second closed-loop control is conducted on the variable pumps on the two sides according to the vehicle course angle, and the vehicle course angle meets a second preset condition. The rotating speeds of the left and right motors are infinitely close to the rotating speed of the target motor through the first closed-loop control, the course angle meets the preset condition through the second closed-loop control, and therefore accurate control over linear walking of the vehicle is achieved.
本发明涉及农机电控技术领域,公开了一种履带式双泵双马达农机直线行走控制方法、系统及农机,方法包括:当车辆处于直线行走控制模式时,获取两侧马达转速和整车对地绝对速度;根据整车对地绝对速度确定目标马达转速;根据两侧马达转速和目标马达转速对两侧变量泵进行第一闭环控制,使两侧马达转速与目标马达转速的差值均满足第一预设条件;第一闭环控制完成后获取车辆航向角,根据车辆航向角对两侧变量泵进行第二闭环控制,使车辆航向角满足第二预设条件。本发明通过第一闭环控制实现左右马达转速均无限接近目标马达转速,通过第二闭环控制实现航向角满足预设条件,从而实现车辆直线行走的精准控制。
Crawler-type double-pump double-motor agricultural machine linear walking control method and system and agricultural machine
履带式双泵双马达农机直线行走控制方法、系统及农机
10.06.2022
Patent
Elektronische Ressource
Chinesisch
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