The invention relates to an agricultural machine linear walking control method, system, device and equipment, a medium and an agricultural machine. The method comprises the following steps: acquiring a first driving current of a left variable pump and a second driving current of a right variable pump under the same motor speed in the linear walking process of the agricultural machine, and the speed deviation between the first speed of a left wheel and the second speed of a right wheel in the linear walking process of the agricultural machine is obtained, a target processing mode is determined according to the speed deviation, and corresponding control is conducted according to the target processing mode. By means of the method, three control parameters corresponding to a PID adjustment mode do not need to be adjusted, the debugging period is greatly shortened, meanwhile, the problem that the PID control mode is poor in control parameter adaptability due to driving environment changes can be solved, the control parameters can be rapidly adjusted through the scheme as long as the speeds of the left wheel and the right wheel are inconsistent, and the control efficiency is improved. Left and right wheel speeds are kept consistent all the time, and the linear running effect of the crawler-type agricultural machine is kept.

    本发明涉及农机直线行走控制方法、系统、装置、设备、介质及农机,该方法包括:获取农机在直线行走过程中在相同马达速度下,左变量泵的第一驱动电流和右变量泵的第二驱动电流,获取所述农机在直线行走过程中左车轮的第一车速和右车轮的第二车速之间的速度偏差,根据所述速度偏差,确定目标处理方式,根据目标处理方式进行相应的控制。通过本发明的方法,可不需要调整PID调整方式对应的三个控制参数,大大缩短调试周期,同时,还可解决PID控制方式因为行驶环境变化引起的控制参数适应性差问题,只要左右车轮速度不一致,通过该方案就可以快速调整控制参数,时刻保持左右车轮速度一致,保持履带式农机的直线行驶效果。


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    Title :

    Agricultural machine linear walking control method, system, device and equipment, medium and agricultural machine


    Additional title:

    农机直线行走控制方法、系统、装置、设备、介质及农机


    Contributors:
    WU XIAOWEI (author) / REN GUOFENG (author) / HE SONG (author) / NI YUNLONG (author) / WU TAO (author) / DOU GANG (author) / JI HUANLI (author) / LIU JING (author)

    Publication date :

    2023-01-06


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B62D MOTOR VEHICLES , Motorfahrzeuge / B60K Anordnung oder Einbau von Antriebseinheiten oder von Kraft- bzw. Drehmomentübertragungen in Fahrzeugen , ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES



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