The invention relates to an agricultural machine four-wheel-drive control method and system and an agricultural machine. The method comprises the steps of 1, obtaining the front motor rotating speed, the rear motor rotating speed and the agricultural machine running speed of the agricultural machine in real time; 2, determining a gear speed ratio according to the rotating speed of the front motor, the rotating speed of the rear motor and the running speed of the agricultural machine; 3, judging whether the vehicle is in a downhill state according to a feedback signal of a pressure sensor of the agricultural machine and information fed back by an attitude measurement unit; 4, if the judgment result is that the vehicle is in a non-downhill state, calculating the linear speed of a rear tire, and calculating the linear speed of a front tire according to the gear speed ratio; 5, obtaining a slipping tire judgment result according to comparison of the front tire linear speed, the rear tire linear speed and the absolute speed value to the ground obtained by the positioning and speed measuring sub-module; and 6, controlling the four-wheel drive of the agricultural machine according to the tire slipping judgment result. According to the method, the control flexibility is high, and which wheel slips can be accurately judged.

    本发明涉及一种农机四驱控制方法、系统及农机,该方法包括:步骤1,实时获取农机的前马达转速、后马达转速以及农机行驶速度;步骤2,根据所述前马达转速、所述后马达转速以及所述农机行驶速度,确定档位速比;步骤3,根据农机的压力传感器的反馈信号以及姿态测量单元反馈的信息判断车辆是否处于下坡状态;步骤4,若判断结果为非下坡状态,则,计算后轮胎线速度,并根据所述档位速比计算前轮胎线速度;步骤5,根据所述前轮胎线速度、后轮胎线速度以及定位及测速子模块获取的对地绝对速度值之间的比较得出打滑轮胎判断结果;步骤6,根据所述打滑轮胎判断结果对农机四驱进行控制。本发明控制灵活度高,准确判断哪个轮出现了打滑。


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    Title :

    Agricultural machine four-wheel-drive control method and system and agricultural machine


    Additional title:

    一种农机四驱控制方法、系统及农机


    Contributors:
    WANG JIN (author) / YU MEIXIANG (author) / NI YUNLONG (author) / WU TAO (author) / QIN JIANJUN (author) / BI WEICHENG (author)

    Publication date :

    2021-05-14


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60W CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION , Gemeinsame Steuerung oder Regelung von Fahrzeug-Unteraggregaten verschiedenen Typs oder verschiedener Funktion



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