The invention discloses a full-torque control method and system for a cotton-picking packer and the cotton-picking packer, and the method comprises the steps: firstly detecting the current posture of the cotton-picking packer to determine the current centroid parameter and quality parameter of the whole machine, and then collecting the current stroke position of an armrest box handle and the driving track of the whole machine; and finally, the required torque of each driving motor is calculated according to the mass center/mass parameters and the expected acceleration, and the required torque of each driving motor can be adaptively calculated according to the posture change of the cotton picking packer. The characteristics that the cotton picking packer has multiple posture types, large load change and variable driving torque demand characteristics of the whole machine are well met, the demand torque is calculated based on the expected acceleration, compared with a control mode that the torque is adjusted based on the current acceleration, the demand torque can be adjusted in advance, regulation lag is avoided, and the control efficiency is improved. And the slip risk of the tire is better reduced.

    本发明公开了一种采棉打包机的全扭矩控制方法及系统、采棉打包机,其先检测采棉打包机的当前姿态以确定整机当前的质心参数和质量参数,然后采集扶手箱手柄的当前行程位置和整机的行驶轨迹,以计算得到纵向预期加速度和横向预期加速度,最后根据质心/质量参数、预期加速度计算得到各个驱动电机的需求扭矩,可以根据采棉打包机的姿态变化自适应地计算得到各个驱动电机的需求扭矩,很好地满足了采棉打包机具有姿态类型多、负荷变动大、整机的驱动扭矩需求特征多变的特点,并且基于预期加速度计算需求扭矩,相比于基于当前加速度再调节扭矩的控制方式,可对需求扭矩进行超前调节,避免了调控滞后,更好地降低了轮胎打滑风险。


    Access

    Download


    Export, share and cite



    Title :

    Full-torque control method and system of cotton-picking packing machine and cotton-picking packing machine


    Additional title:

    采棉打包机的全扭矩控制方法及系统、采棉打包机


    Contributors:
    LIU QIN (author) / ZHOU YANG (author) / ZHU QI (author) / WANG GUANGYU (author) / YANG YI (author) / LI XIAOYI (author) / LIN YI (author)

    Publication date :

    2024-08-23


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen / A01D Ernten , HARVESTING / 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



    Cotton picking machine from Deere

    British Library Online Contents | 2005


    Crawler-type cotton harvesting and ground cotton automatic picking and cleaning equipment

    CHEN CHANGLIN / SUN YONGFEI / XIE QING et al. | European Patent Office | 2022

    Free access

    Sugarcane picking machine

    HUANG HUA / WEISHUZHUANG | European Patent Office | 2021

    Free access

    Honeysuckle combined picking machine

    DENG YOUWEI / WEI MINSHENG / WANG YIFAN et al. | European Patent Office | 2021

    Free access

    Efficient fruit picking machine

    WANG RUIQUAN / GUO XINYOU / WANG YONGYANG | European Patent Office | 2015

    Free access