CN111736513A - Anti-clogging electro-hydraulic control system and control method for rollers of sugarcane harvester - Google Patents

Abstract

A sugarcane harvester roller anti-clogging electro-hydraulic control system and control method, the torque of the input roller, the leaf stripping roller and the end-breaking roller and the torque of the rotational speed within a certain time interval are respectively measured by a torque sensor and a rotational speed sensor. The average value of the rotational speed data, the data signal measured by the sensor is connected to the single-chip controller through the data conversion module. The single-chip controller outputs the command signal after analysis and judgment. The command signal is amplified by the proportional amplifier and then connected to the electro-hydraulic proportional flow valve to adjust the hydraulic motor flow output of the input roller, leaf peeling roller and end-breaking roller, and then adjust the above rollers. The drum is at a rated speed; at the same time, the command signal output by the single-chip controller can also control the forward speed of the harvester, adjust the sugarcane feeding amount, and achieve the goal of preventing the logistics channel from being blocked due to the excessive sugarcane feeding amount.

Description

Anti-clogging electro-hydraulic control system and control method for rollers of sugarcane harvester

technical field

The invention relates to single chip control technology and hydraulic system control, and is an electro-hydraulic control system for realizing self-adaptive control.

technical background

As of 2018, my country's sugarcane planting area has reached 1,405.8 thousand hectares, but my country's sugarcane harvesters have a low degree of mechanization, and the problems of sugarcane lodging and bending are serious. It affects the sugarcane harvesting efficiency and harvesting quality.

SUMMARY OF THE INVENTION

In the invention, the torque sensor and the rotational speed sensor respectively measure the torque and rotational speed of each roller and the signal data of the forward speed of the harvester, and input the measurement signal to the single-chip controller. Changes in average torque and average speed, and output command control signal, which is used to control the hydraulic system and the speed adjustment system, so that the speed of each roller and the forward speed of the harvester are within a suitable range, so as to This achieves the goal of controlling the rotational speed of each drum and the amount of sugarcane feeding.

The present invention solves the above-mentioned technical problems through the following technical solutions: an anti-clogging electro-hydraulic control system for a sugarcane harvester roller, including hardware and a control system, characterized in that the hardware includes a one-way quantitative hydraulic motor, an input roller group, a stripper Leaf roller set, support plate, roller shaft, speed sensor, torque sensor and coupling, the specific structure and connection relationship are:

The input roller group mainly includes an upper-end input roller and a lower-end input roller, the leaf-stripping roller group mainly includes an upper-end leaf-stripping roller and a lower-end leaf-stripping roller, and the end-breaking roller group mainly includes an upper-end breaking roller and a lower-end breaking end. Roller, three identical one-way quantitative hydraulic motors are respectively connected with the upper input roller, the upper leaf stripping roller and the upper end breaking roller; the two ends of the three identical torque sensors are respectively connected with the coupling, the coupling The other end of the device is respectively connected with the one-way quantitative hydraulic motor and the roller shaft, and the rotational speed sensor is fixed on the support plate to measure the rotational speed of the roller shaft. The upper input roller and the lower input roller are meshed and transmitted through gears with the same module and number of teeth, the upper and lower leaf stripping rollers are driven by gears with the same module and number of teeth, and the upper end breaking roller and the lower end breaking roller are engaged. It is driven by gears with the same modulus and number of teeth.

The electro-hydraulic control system is composed of a single-chip controller, a hydraulic system and a feedback measuring instrument to form a closed-loop control system. The torque sensor, the rotational speed sensor and the vehicle speed sensor are used as the signal feedback measuring instruments of the electro-hydraulic control system. The signal measured by the sensor passes through the data conversion module to generate a single-chip microcomputer. The electrical signal that the controller can identify, the single-chip controller internally stores programs and data that can adjust the rotational speed and forward speed of each drum, the signal output by the single-chip controller is amplified by the proportional amplifier and then input to the three-position four-way electro-hydraulic proportional flow valve for control The opening of the flow valve. The hydraulic system part includes a one-way quantitative hydraulic motor and a three-position four-way electro-hydraulic proportional flow valve. The two ports A and B of the hydraulic motor are respectively connected to the ports C and D of the electro-hydraulic proportional flow valve, and the other two hydraulic ports of the proportional valve are connected. E and F are respectively connected with the hydraulic oil circuit and the hydraulic oil tank.

As shown in the definitions of the parameters in Table 1, the parameters in this table represent a fixed value except the average value of the roller torque and the average speed of the rotating speed, which are real-time measurement data, and are stored in the program memory of the microcontroller controller. The data information set in advance is for the single-chip controller to calculate and analyze the data measured by the sensor, compare the data in the table to make judgments and output the parameter basis of the control command. The symbol parameters in the table are used to describe the electro-hydraulic more clearly. Parameters defined to control the control method of the system.

The control method of the anti-clogging electro-hydraulic control system of the sugarcane harvester roller comprises the following steps:

(1) Write the operation control program of each roller of the sugarcane harvester in the program memory of the microcontroller controller, set a number of roller torque levels, and the torque difference between the two adjacent torque levels is T.

(2) In the program memory of the single-chip controller, the optimal initial rotational speed of each roller and the program control instruction with the rotational speed adjustment value of N are set in advance.

(3) Set several program control instructions of vehicle forward speed level in the program memory of the single chip controller, the difference between two adjacent speed levels is V, and set the initial forward speed V _Q of the sugarcane harvester.

(4) When the average value of the input roller torque T _S increases by one torque level value T, that is, T _S + T, and the roller speed N' _S in the corresponding time period decreases by one speed level N, the single-chip controller outputs Increase the control command of the input roller speed, through the control command to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the input roller speed, so that the roller speed reaches N' _S +N, otherwise keep the current Enter the rotational speed of the drum N' _S . If the increased value of the input roller torque average value TS is less than a torque level value T, the current input roller rotational speed _N 'S is maintained and the forward speed is increased to V _Q +V. When the torque input to the roller is greater than or equal to the maximum value of the roller torque, and the rotational speed of the roller is less than or equal to the minimum value, it is necessary to reduce the forward speed of the sugarcane harvester to reduce the forward speed by one level, that is, to V _Q -V , to prevent the blockage of the entire logistics channel due to the excessive flow of sugarcane at the input roller.

(5) When the average torque value T _B at the peeling drum increases by a torque level T, that is, T _B + T and the drum speed N _B in the corresponding time period decreases by a speed difference N, the output of the single-chip controller increases the peeling speed. The control command of the leaf roller speed, through the control command to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the leaf peeling roller, so that the speed of the roller reaches N' _B +N, otherwise keep the current The rotation speed _NB of the input roller prevents the flow channel from being blocked due to the excessive flow of sugarcane at the defoliation roller.

(6) When the average torque value T _D at the broken end drum increases by a torque level T, that is, T _D + T, and the drum speed N' _D in the corresponding time period decreases by a speed difference N, the single-chip controller outputs The control command to increase the speed of the end-breaking roller, through the control command to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the end-breaking roller, so that the roller speed reaches N' _D +N, Otherwise, keep the current rotation speed _ND of the input roller to prevent the flow channel from being blocked due to the excessive flow of sugarcane at the end-breaking roller.

(7) When the flow rate of the hydraulic motor reaches the maximum value, the rotational speed of the roller will reach the maximum adjustment limit value N _Max . At this time, the torque of the roller will continue to increase with the increase of the sugarcane feeding amount, but the rotational speed of the roller will increase. Gradually decrease, in order to ensure that the leaf stripping roller and the logistics channel at its rear end are not blocked, when a roller mechanism in the leaf stripping roller or the end-breaking roller has reached the maximum speed limit value N _Max , the single-chip controller output The control command ensures that the rotational speed of the input roller no longer increases with the increase of the input roller torque, but maintains the current rotational speed of the input roller.

(8) When the speed of the peeling roller and the end-breaking roller reaches the adjustment limit and cannot be adjusted, the torque of the peeling roller and the end-breaking roller will increase with the increase of sugarcane feeding amount. Or when the torque of the broken end roller reaches the maximum value T _Max and the rotational speed reaches the minimum value N _Min , it is necessary to reduce the forward speed of the harvester to V _Q -V to reduce the sugarcane feeding amount.

The switching power supply adopts a 24V switching power supply, and the switching power supply provides working power for the entire electronic control system.

The roller torque sensor uses a strain gauge torque sensor, and the rotational speed sensor uses a Hall rotational speed sensor.

Compared with the prior art, the present invention has the following beneficial effects:

In the present invention, the torque sensor and the rotational speed sensor respectively measure the torque and rotational speed signal data of each roller, the single-chip controller analyzes and judges the variation of the average torque and average rotational speed of each roller in a period of time, and the output can adjust the roller to be at a suitable rotational speed and The command signal of the sugarcane feeding amount, the command signal is transmitted to the electro-hydraulic proportional flow valve to control the flow of the one-way quantitative hydraulic motor to control the roller speed, or the output command signal controls the forward speed of the sugarcane harvester, so as to adjust the sugarcane cutting amount And the feeding amount, so as to adjust the extrusion force of the rollers by the sugarcane, and adjust the torque of the rollers, so that the rotation speed of each roller and the forward speed of the harvester are within a suitable range, and the goal of preventing the blockage of the logistics channel is achieved.

Description of drawings

1 is a front view of the structure of each roller of the sugarcane harvester of the present invention.

Figure 2 is a top view of the structure of each roller of the sugarcane harvester of the present invention.

Fig. 3 is a structural side view of each roller of the sugarcane harvester of the present invention.

FIG. 4 is a schematic diagram of the working principle of the anti-clogging electro-hydraulic control system for the rollers of the sugarcane harvester of the present invention.

FIG. 5 is a system control block diagram of the anti-clogging electro-hydraulic control system for the rollers of the sugarcane harvester of the present invention.

Figure 6 is a structural block diagram based on the single-chip control of the vehicle speed and the speed of the input roller.

Figure 7 is a block diagram of the structure of the vehicle speed and the speed of the peeling roller controlled by the single-chip microcomputer.

Fig. 8 is a structural block diagram of the speed regulation of the vehicle speed and the speed of the broken end roller based on the single chip microcomputer control.

Marked as: one-way quantitative hydraulic motor 1, input roller gear 2, support plate 3, roller shaft 4, rotational speed sensor 5, upper input roller 6, lower input roller 7, upper leaf peeling roller 8, lower end peeling roller Leaf drum 9 , upper end breaking drum 10 , lower end breaking drum 11 , coupling 12 , torque sensor 13 , leaf peeling drum gear 14 , end breaking drum gear 15 .

Detailed ways

The technical solutions of the present invention will be further described below in conjunction with the accompanying drawings and embodiments.

First of all, it should be noted that, in the description of the present invention, unless otherwise expressly specified and limited, the terms "connected" and "connected" should be understood in a broad sense, for example, it may be a fixed connection or a detachable connection, or The integral connection can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium. For those of ordinary skill in the art, the specific meanings of the above terms in the present invention can be understood according to specific situations.

In the description of the present invention, unless otherwise stated, "plurality" means two or more; the terms "upper", "lower", "left", "right", "inner", "outer" The orientation or positional relationship indicated by , "front end", "rear end", "head", "tail", etc. are based on the orientation or positional relationship shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, not An indication or implication that the referred device or element must have a particular orientation, be constructed and operate in a particular orientation, is not to be construed as a limitation of the invention. Furthermore, the terms "first," "second," "third," etc. are used for descriptive purposes only and should not be construed to indicate or imply relative importance.

As shown in Figures 1 to 3, the anti-clogging electro-hydraulic control system and control method of the sugarcane harvester roller according to the present invention, the hardware includes a one-way quantitative hydraulic motor 1, an input roller gear 2, a support plate 3, a roller shaft 4. Speed sensor 5, upper input roller 6, lower input roller 7, upper leaf peeling roller 8, lower leaf peeling roller 9, upper end breaking roller 10, lower end breaking roller 11, coupling 12, torque Sensor 13 , peeling roller gear set 14 and end breaking roller gear 15 . The specific structure and connection relationship are:

The one-way quantitative hydraulic motor is the actuator of the hydraulic system, which is used to drive each roller to rotate. Each roller group includes an upper roller shaft, an upper roller, a lower roller and a lower roller shaft. The minimum gap is 10mm. The input roller group includes the upper input roller shaft 432, the upper input roller 6, the lower input roller 7 and the lower input roller shaft 431. The leaf roller 8, the lower leaf peeling roller 9 and the lower leaf peeling roller shaft 421, the tail breaking roller group includes the upper end breaking roller shaft 411, the upper end breaking roller 10, the lower end breaking roller 11 and the lower end breaking roller axis 4.

The torque sensors 13, 131 and 132 of the present invention are all strain gauge torque sensors of the same type, and the torque sensors all measure the torque of the upper roller shaft; the three rotational speed sensors of the present invention, including the rotational speed sensor 5 They are all Hall speed sensors of the same model. The three speed sensors measure the speed of the lower input roller shaft, the lower leaf stripping roller shaft and the lower end breaking roller shaft respectively. Above the cylindrical shaft, the installation position is shown in Figure 1; the six couplings described in the present invention are rigid couplings of the same model.

The one-way quantitative hydraulic motor 1 is connected with the coupling 122, the coupling 122 is connected with one end of the torque sensor 132, and the other end of the torque sensor 132 is connected with another coupling of the same type, which is connected with the upper input roller The shaft 432 is connected, the upper input roller shaft 432 is connected with the upper input roller 6; the one-way quantitative hydraulic motor 101 is connected with the coupling 121, the coupling 121 is connected with one end of the torque sensor 131, and the other end of the torque sensor 131 is connected with the other end. A coupling of the same type is connected, the coupling is connected with the upper leaf stripping roller shaft 422, the upper leaf stripping roller shaft 422 is connected with the upper leaf stripping roller 8; the one-way quantitative hydraulic motor 102 is connected with the coupling 12, The coupling 12 is connected to one end of the torque sensor 13, and the other end of the torque sensor 13 is connected to another coupling of the same type, which is connected to the upper end breaking roller shaft 411, and the upper end breaking roller shaft 411 is The upper end breaker roller 10 is connected. The one-way quantitative hydraulic motor is connected with each roller shaft, and the power of the hydraulic motor is transmitted to each roller through the roller shaft.

The upper end input drum 6 and the lower end input drum 7 are meshed and driven by the input drum gear 2 and the gear 201 with the same modulus and number of teeth. The upper leaf stripping drum 8 and the lower leaf stripping drum 9 are meshed and driven by the leaf stripping drum gear 14 and the gear 1401 with the same modulus and number of teeth. The upper end breaking drum 10 and the lower end breaking drum 11 are meshed and driven by the end breaking drum gear 15 and the gear 1501 having the same modulus and number of teeth. The support plate 3 is used to mount the three roller sets and other components.

The electro-hydraulic control system is mainly composed of a single-chip controller, a hydraulic system and a feedback measuring instrument to form a closed-loop control system. The torque sensor, the rotational speed sensor and the vehicle speed sensor are used as the signal feedback measuring instruments of the electro-hydraulic control system. The signal measured by the sensor is generated by the data conversion module. The single-chip controller can identify the signal source, and the single-chip controller internally stores the program that can adjust the rotation speed and forward speed of each drum. The signal output by the single-chip controller is amplified by the proportional amplifier and then input to the three-position four-way electro-hydraulic proportional flow valve to control the opening of the flow valve. The hydraulic system part includes a one-way quantitative hydraulic motor and a three-position four-way electro-hydraulic proportional flow valve. The two ports A and B of the hydraulic motor are respectively connected to the ports C and D of the electro-hydraulic proportional flow valve, and the other two hydraulic ports of the proportional valve are connected. E and F are respectively connected with the hydraulic oil circuit and the hydraulic oil tank. The switching power supply adopts 24V switching electro-hydraulic. Figure 4 shows the schematic diagram of the working principle of the anti-blocking electro-hydraulic control system for the logistics channel of the sugarcane harvester and Figure 5 shows the system control block diagram of the anti-blocking electro-hydraulic control system for the logistics channel of the sugarcane harvester.

As shown in the definitions of the parameters in Table 1, the parameters in this table represent a fixed value except the average value of the roller torque and the average speed of the rotating speed, which are real-time measurement data, and are stored in the program memory of the microcontroller controller. The data information set in advance is for the single-chip controller to calculate and analyze the data measured by the sensor, compare the data in the table to make judgments and output the parameter basis of the control command. The symbol parameters in the table are used to describe the electro-hydraulic more clearly. Parameters defined to control the control method of the system.

The control method of the anti-clogging electro-hydraulic control system for the peeling roller of the sugarcane harvester according to the present invention comprises the following steps:

(1) Write the operation control program of each roller of the sugarcane harvester in the program memory of the microcontroller controller, set a number of roller torque levels, and the torque difference between the two adjacent torque levels is T.

(2) In the program memory of the single-chip controller, the optimal initial rotational speed of each roller and the program control instruction with the rotational speed adjustment value of N are set in advance.

(3) Set a number of program control instructions of the whole vehicle forward speed level in the program memory of the single-chip controller, and the difference between the two adjacent speed levels is V. The initial forward speed V _Q of the sugarcane harvester is set.

(4) When the average value of the input roller torque T _S increases by one torque level value T, that is, T _S + T, and the roller speed N' _S in the corresponding time period decreases by one speed level N, the single-chip controller outputs Increase the control command of the input roller speed, through the control command to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the input roller speed, so that the roller speed reaches N' _S +N, otherwise keep the current Enter the rotational speed of the drum N' _S . If the increase in the average value of the input roller torque T _S is less than a torque level value T, the current input roller rotational speed N' _S is maintained and the forward speed is increased to V _Q +V. When the torque input to the roller is greater than or equal to the maximum value of the roller torque T _SMax , and the rotational speed of the roller is less than or equal to the minimum value N _SMin , it is necessary to reduce the forward speed of the sugarcane harvester to reduce the forward speed by one level, that is, to V _Q -V, to prevent the blockage of the entire logistics channel due to the excessive flow of sugar cane at the input roller. As shown in Figure 6, the structure block diagram of vehicle speed and input roller speed adjustment based on single chip control.

(5) When the average torque value T _B at the peeling drum increases by a torque level T, that is, T _B + T, and the drum speed N' _B in the corresponding time period decreases by a speed difference N, the single-chip controller outputs The control command to increase the speed of the peeling roller, through the control command to increase the flow output of the electro-hydraulic proportional flow valve, increase the speed of the hydraulic motor, and then increase the speed of the peeling roller, so that the roller speed reaches N' _B +N, otherwise The current rotation speed _NB of the input roller is maintained to prevent the flow channel from being blocked due to the excessive flow of sugarcane at the defoliation roller. As shown in Figure 7, the structural block diagram of the vehicle speed and the speed of the peeling roller based on the single chip control.

(6) When the average torque value T _D at the end-broken drum increases by a torque level T, that is, T _D + T, and the drum speed N _D in the corresponding time period decreases by a speed difference N, the output of the single-chip controller increases The control command of the speed of the peeling roller and the end-breaking roller, through the control command, the flow output of the electro-hydraulic proportional flow valve is increased, the speed of the hydraulic motor is increased, and the speed of the end-breaking roller is increased, so that the roller speed reaches N' _D +N, otherwise keep the current rotation speed N _D of the input roller to prevent the flow channel from being blocked due to the excessive flow of sugarcane at the end-breaking roller. As shown in Figure 8, the structural block diagram of the speed adjustment of the vehicle speed and the speed of the broken end roller based on the single chip microcomputer control.

(7) When the flow rate of the hydraulic motor reaches the maximum value, the rotational speed of the roller will reach the maximum adjustment limit value N _Max . At this time, the torque of the roller will continue to increase with the increase of the sugarcane feeding amount, but the rotational speed of the roller will increase. Gradually decrease, in order to ensure that the leaf stripping roller and the logistics channel at its rear end are not blocked, when a roller mechanism in the leaf stripping roller or the end-breaking roller has reached the maximum speed limit value N _Max , the single-chip controller output The control command ensures that the rotational speed of the input roller no longer increases with the increase of the input roller torque, but maintains the current rotational speed of the input roller.

(8) When the speed of the peeling roller (or the end-breaking roller) reaches the adjustment limit and cannot be adjusted, the torque of the peeling roller (or the end-breaking roller) will increase with the increase of the sugarcane feeding amount. When the torque of the peeling roller (or the end-breaking roller) reaches the maximum value T _Max , and the rotational speed reaches the minimum value N _Min , it is necessary to reduce the forward speed of the harvester to V _Q -V to reduce the sugarcane feeding amount. As shown in Figure 7 and Figure 8.

Through the above-mentioned connection method and setting method, the automatic control of anti-clogging of each drum of the sugarcane harvester is realized.

The above are only the preferred embodiments of the present invention, and of course, the scope of rights of the present invention cannot be limited by this. Those of ordinary skill in the art can understand that all or part of the procedures for realizing the above embodiments can be implemented according to the claims of the present invention. The equivalent changes of the invention still belong to the scope covered by the invention.

Table 1 Definition of each parameter

Claims (4)

1. The utility model provides a sugarcane harvester roller prevents blockking up electric liquid control system and control method, includes hardware and control system, its characterized in that, the hardware includes one-way ration hydraulic motor, input roller group, shells a set of roller, backup pad, drum shaft, speed sensor, torque sensor and shaft coupling, and specific structure and relation of connection are:

the input roller group mainly comprises an upper end input roller and a lower end input roller, the leaf peeling roller group mainly comprises an upper end leaf peeling roller and a lower end leaf peeling roller, the tail breaking roller group mainly comprises an upper end tail breaking roller and a lower end tail breaking roller, three same one-way quantitative hydraulic motors are respectively connected with the upper end input roller, the upper end leaf peeling roller and the upper end tail breaking roller, two ends of three same torque sensors are respectively connected with a coupler, the other end of the coupler is respectively connected with the one-way quantitative hydraulic motor and a roller shaft, a rotating speed sensor is fixed on a supporting plate to measure the rotating speed of the roller shaft, the upper end input roller and the lower end input roller are in meshing transmission through gears with the same modulus and tooth number, the upper end leaf peeling roller and the lower end leaf peeling roller are in meshing transmission through gears with the same modulus and tooth number, and the upper end tail breaking roller and the lower end tail breaking,

the electro-hydraulic control system consists of a single chip microcomputer controller, a hydraulic system and a feedback measuring instrument, wherein a torque sensor, a rotating speed sensor and a vehicle speed sensor are used as signal feedback measuring instruments of the electro-hydraulic control system, signals measured by the sensors generate electric signals which can be identified by the single chip microcomputer controller through a data conversion module, programs and data for adjusting the rotating speed and the advancing speed of each roller are stored in the single chip microcomputer controller, signals output by the single chip microcomputer controller are amplified by a proportional amplifier and then input into a three-position four-way electro-hydraulic proportional flow valve to control the opening degree of the flow valve, the hydraulic system part comprises a one-way quantitative hydraulic motor, the three-position four-way electro-hydraulic, b are respectively connected with ports C and D of the electro-hydraulic proportional flow valve, and the other two hydraulic ports E, F of the proportional valve are respectively connected with a hydraulic oil circuit and a hydraulic oil tank.

2. The control method of the anti-clogging electrohydraulic control system for the roller of the sugarcane harvester as recited in claim 1, characterized by comprising the steps of:

(1) writing an operation control program of each roller of the sugarcane harvester in the single chip microcomputer controller, and setting a plurality of roller torque grades, wherein the torque difference value of two adjacent torque grades is T;

(2) setting program control instructions with the optimal initial rotating speed and the rotating speed regulating value of each roller as N in advance in a single chip microcomputer controller;

(3) setting a plurality of program control instructions of the advancing speed grades of the whole sugarcane harvester in a singlechip controller, setting the difference value of two adjacent speed grades as V, and setting the initial advancing speed V of the sugarcane harvester_Q；

(4) When the average value T of the torque of the input roller_SFor each increase of one torque level value T, i.e. T_S+ T and drum speed N 'for the corresponding period of time'_SWhen the rotating speed grade N is reduced, the single chip microcomputer controller outputs a control instruction for increasing the rotating speed of the input roller, the flow output of the electro-hydraulic proportional flow valve is increased through the control instruction, the rotating speed of the hydraulic motor is increased, the rotating speed of the input roller is further increased, and the rotating speed of the roller reaches N'_S+ N, otherwise keeping the rotation speed N 'of the current input roller'_SIf the average value T of the roller torque is input_SIs less than a torque level value T, the current rotational speed N 'of the input roller is maintained'_SAnd increasing the forward speed to V_Q+ V, when the torque of the input roller is greater than or equal to the maximum torque of the roller and the rotating speed of the roller is less than or equal to the minimum torque, the advancing speed of the sugarcane harvester needs to be reduced, so that the advancing speed is reduced by one grade, namely, the advancing speed is reduced to V_QV, preventing the blockage of the whole logistic channel due to the overlarge flow of the sugarcane at the input roller;

(5) torque average value T at the stripping roller_BIncreasing by one torque level T, i.e. T_B+ T and corresponding period of drum speed N'_BWhen a rotating speed grade T is reduced, the single chip microcomputer controller outputs a control instruction for increasing the rotating speed of the leaf peeling roller, the flow output of the electro-hydraulic proportional flow valve is increased through the control instruction, the rotating speed of the hydraulic motor is increased, the rotating speed of the leaf peeling roller is further increased, and the rotating speed of the roller reaches N'_B+ N, otherwise keeping the rotation speed N 'of the current input roller'_BThe blockage of a material flow channel caused by overlarge sugarcane flow at the leaf stripping roller is prevented;

(6) torque average value T at tail roller_DIncreasing by one torque level T, i.e. T_D+ T and corresponding drum speed N 'for a period of time'_DWhen a rotating speed grade T is reduced, the single chip microcomputer controller outputs a control instruction for increasing the rotating speed of the broken tail roller, the flow output of the electro-hydraulic proportional flow valve is increased through the control instruction, the rotating speed of the hydraulic motor is increased, the rotating speed of the broken tail roller is further increased, and the rotating speed of the roller reaches N'_D+ N, otherwise keeping the rotation speed N 'of the current input roller'_DThe blockage of a material flow channel caused by overlarge sugarcane flow at the tail breaking roller is prevented;

(7) when the flow of the hydraulic motor reaches the maximum value, the roller speed reaches the maximum regulation limit value N_MaxAt the moment, the torque of the roller can be continuously increased along with the increase of the feeding amount of the sugarcane, but the rotating speed of the roller can be gradually reduced, and in order to ensure that the leaf peeling roller and a logistics channel at the rear end of the leaf peeling roller are not blocked, a roller mechanism in the leaf peeling roller or the tail breaking roller is already arrangedReach the maximum limit value N of speed regulation_MaxWhen the roller is in use, the singlechip controller outputs a control instruction to ensure that the rotating speed of the input roller is not increased along with the increase of the torque of the input roller any more, but the rotating speed of the current input roller is kept;

(8) when the rotating speed of the leaf stripping roller and the tail breaking roller reaches the adjusting limit and cannot be adjusted, the torque of the leaf stripping roller and the tail breaking roller can be increased along with the increase of the feeding amount of the sugarcane, and the torque of the leaf stripping roller or the tail breaking roller reaches the maximum value T_MaxThe rotation speed reaches a minimum value N_MinWhen it is necessary to reduce the forward speed of the harvester to V_QV, reducing the sugarcane feeding amount.

3. The anti-clogging electrohydraulic control system for the roller of the sugarcane harvester according to claim 1 is characterized in that a 24V switching power supply is adopted as the switching power supply, and the switching power supply provides a working power supply for the whole electric control system.

4. The anti-blocking electrohydraulic control system and method for the roller of the sugarcane harvester according to claim 1, characterized in that a strain gauge torque sensor is adopted as the roller torque sensor, and a Hall rotation speed sensor is adopted as the rotation speed sensor.

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