JPH0465014U - - Google Patents
Info
- Publication number
- JPH0465014U JPH0465014U JP1990108765U JP10876590U JPH0465014U JP H0465014 U JPH0465014 U JP H0465014U JP 1990108765 U JP1990108765 U JP 1990108765U JP 10876590 U JP10876590 U JP 10876590U JP H0465014 U JPH0465014 U JP H0465014U
- Authority
- JP
- Japan
- Prior art keywords
- machine
- working machine
- horizontal
- acceleration
- detecting
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000001133 acceleration Effects 0.000 claims description 6
- 238000001514 detection method Methods 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 13
- 238000000034 method Methods 0.000 description 2
- 240000007594 Oryza sativa Species 0.000 description 1
- 235000007164 Oryza sativa Nutrition 0.000 description 1
- 230000005484 gravity Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 235000009566 rice Nutrition 0.000 description 1
- 238000005096 rolling process Methods 0.000 description 1
Classifications
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02B—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO BUILDINGS, e.g. HOUSING, HOUSE APPLIANCES OR RELATED END-USER APPLICATIONS
- Y02B30/00—Energy efficient heating, ventilation or air conditioning [HVAC]
- Y02B30/70—Efficient control or regulation technologies, e.g. for control of refrigerant flow, motor or heating
Landscapes
- Transplanting Machines (AREA)
Description
図面は本考案の実施例を示し、第１図は乗用型
田植機の平面図、第２図は側面図、第３図は苗植
装置と走行機体との連結部の要部側面図、第４図
は制御装置のブロツク図と油圧回路を含む作用説
明図、第５図は第３図のＶ−Ｖ視図、第６図は傾
斜センサーのブロツク図、第７図及び第８図は各
々フローチヤート、第９図はフアジイ規則の図、
第１０図は傾斜角度θのメンバーシツプ関数を示
す図、第１１図は加速度ΔＧのメンバーシツプ関
数を示す図、第１２図は修正量Ｓのメンバーシツ
プ関数を示す図、第１３−ａ図と第１３−ｂ図と
第１３−ｃ図はフアジイ規則の場合のメンバー
シツプ関数の図、第１４−ａ図と第１４−ｂ図と
第１４−ｃ図はフアジイ規則の場合のメンバー
シツプ関数の図、第１５−ａ図と第１５−ｂ図と
第１５−ｃ図はフアジイ規則の場合のメンバー
シツプ関数の図、第１６図はＭＡＸ．ＭＩＮＩＭ
ＵＭ法と面積重心法の説明図、第１７図は加速度
センサーの設置位置を示す図である。
１……走行機体、３，５……車輪、１０……苗
植装置、１５……苗載台、１６……植付機構、１
１……リンク機構、２２……ローリング軸、５１
……傾斜センサー、５６ａ，５６ｂ……加速度セ
ンサー、２９……油圧シリンダ、４８……制御弁
、６０……駆動回路、５０……制御手段。
The drawings show an embodiment of the present invention, and FIG. 1 is a plan view of a riding-type rice transplanter, FIG. 2 is a side view, FIG. Fig. 4 is a block diagram of the control device and an explanatory diagram of its operation including a hydraulic circuit, Fig. 5 is a V-V view of Fig. 3, Fig. 6 is a block diagram of the tilt sensor, and Figs. 7 and 8 are respectively Flowchart, Figure 9 is a diagram of fuzzy rules,
Fig. 10 is a diagram showing the membership function of the inclination angle θ, Fig. 11 is a diagram showing the membership function of the acceleration ΔG, Fig. 12 is a diagram showing the membership function of the correction amount S, Figs. 13-a and 13- Figures b and 13-c are membership function diagrams for fuzzy rules, Figures 14-a, 14-b, and 14-c are membership function diagrams for fuzzy rules, and Figure 15-c is a diagram of membership functions for fuzzy rules. Figures a, 15-b, and 15-c are membership function diagrams for fuzzy rules, and Figure 16 is for MAX. MINIM
FIG. 17, which is an explanatory diagram of the UM method and the area center of gravity method, is a diagram showing the installation position of the acceleration sensor. 1... Traveling machine body, 3, 5... Wheels, 10... Seedling planting device, 15... Seedling platform, 16... Planting mechanism, 1
1...Link mechanism, 22...Rolling axis, 51
... Tilt sensor, 56a, 56b ... Acceleration sensor, 29 ... Hydraulic cylinder, 48 ... Control valve, 60 ... Drive circuit, 50 ... Control means.
Claims (1)
能に装着し、走行機体と作業機との間に介在させ
たアクチエータにて前記作業機を左右水平状態に
保持する制御を実行するように構成して成る農作
業機において、前記作業機には、その左右傾斜角
度を検出する傾斜センサーを設ける一方、走行機
体には、その左右両側に、当該走行機体の左右回
動方向の加速度を検出する加速度センサーを一対
設け、該両加速度センサーの検出結果の差と、傾
斜センサーの検出結果とに基づいて、前記アクチ
エータに対する制御出力を求める制御手段を設け
たことを特徴とする農作業機における水平姿勢制
御装置。 A working machine is attached to the traveling machine body so as to be rotatable left and right and movable up and down, and an actuator interposed between the running machine body and the working machine is configured to perform control to maintain the working machine in a horizontal horizontal state. In the agricultural working machine, the working machine is provided with an inclination sensor for detecting the horizontal inclination angle of the working machine, and the traveling machine is provided with an acceleration sensor on both the left and right sides thereof for detecting the acceleration in the horizontal rotation direction of the running machine. A horizontal attitude control device for an agricultural machine, characterized in that a pair of sensors are provided, and a control means is provided for determining a control output for the actuator based on the difference between the detection results of both acceleration sensors and the detection result of the inclination sensor. .
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1990108765U JP2503026Y2 (en) | 1990-10-16 | 1990-10-16 | Left-right posture control device for agricultural work machines |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1990108765U JP2503026Y2 (en) | 1990-10-16 | 1990-10-16 | Left-right posture control device for agricultural work machines |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0465014U true JPH0465014U (en) | 1992-06-04 |
| JP2503026Y2 JP2503026Y2 (en) | 1996-06-26 |
Family
ID=31855886
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1990108765U Expired - Lifetime JP2503026Y2 (en) | 1990-10-16 | 1990-10-16 | Left-right posture control device for agricultural work machines |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2503026Y2 (en) |
-
1990
- 1990-10-16 JP JP1990108765U patent/JP2503026Y2/en not_active Expired - Lifetime
Also Published As
| Publication number | Publication date |
|---|---|
| JP2503026Y2 (en) | 1996-06-26 |
Similar Documents
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| R250 | Receipt of annual fees |
Free format text: JAPANESE INTERMEDIATE CODE: R250 |
|
| EXPY | Cancellation because of completion of term |