CN-122008977-A - Seat active leveling method for waist-bending tractor

CN122008977ACN 122008977 ACN122008977 ACN 122008977ACN-122008977-A

Abstract

The invention relates to a seat active leveling method of a waist bending tractor, which comprises the steps of acquiring pose parameters and path information of the tractor in real time, predicting the pose change trend of a seat mounting point caused by waist bending swing through a preset waist bending kinematic model, generating a feedforward control signal, acquiring actual pose information of a seat and a vehicle body to generate a feedback control signal, fusing the feedforward control signal and the feedback control signal to generate a cooperative control instruction, and driving a seat multi-degree-of-freedom adjusting mechanism to roll or pitch, so that real-time and predictive dynamic stability of the pose of a driver is realized. The invention obviously improves the response speed and stability of the leveling system and effectively improves the riding comfort and the operation safety of a driver through feedforward-feedback composite control.

Inventors

YAN XIANGHAI
ZHANG JINGYUN
LI XIANZHE
JIAO MINGYAO
WU YIWEI
XU LIYOU
LIU MENGNAN
ZHANG JUNJIANG
JIA FANG
WANG HANG
ZHAO SIXIA

Assignees

河南科技大学

Dates

Publication Date: 20260512
Application Date: 20260323

Claims (7)

1. The seat active leveling method of the waist folding tractor is characterized by comprising the following steps of: s1, initializing a control system; s2, acquiring pose parameters and path information in real time by a pose sensing module, wherein the pose parameters and the path information comprise swing angles and angular velocities of hinge points of a hinge waist, inertial measurement data of front frames, rear frames and seats, and satellite navigation GNSS positioning data; Step S3, the cooperative controller calculates the current road surface bumping degree and the vehicle speed according to the pose parameters and the path information acquired by the pose control module in the step S2, if the current road surface bumping degree is greater than a preset bumping threshold or the current vehicle speed is lower than a preset vehicle speed threshold, the step S4 is executed, otherwise, the step S5 is executed; Step S4, the cooperative controller generates a seat position adjusting instruction by adopting a PID feedback control algorithm only according to the deviation of the current posture of the seat acquired by the posture sensing module and the target posture, and then the step S6 is executed; S5, the cooperative controller enters a feedforward-feedback cooperative prediction control mode to generate a cooperative control instruction; And S6, the cooperative controller sends the position adjustment instruction generated in the step S4 or the cooperative control instruction generated in the step S5 to a driving module to drive the seat multi-degree-of-freedom adjustment mechanism to execute roll and pitch adjustment.
2. The method for actively leveling a seat of a swing tractor according to claim 1, wherein the initializing the control system in step S1 includes setting a target attitude angle of the seat, a predictive control parameter, and thresholds.
3. The seat active leveling method of the waist bending tractor is characterized in that in the step S2, a posture sensing module comprises a waist bending joint sensor, a vehicle body inertia measuring unit IMU, a seat posture sensor and a satellite navigation GNSS, wherein the waist bending joint sensor is arranged on a waist bending hinge shaft of the tractor and used for measuring the swing angle and the angular velocity of the waist bending, the two inertia measuring units IMU are rigidly arranged on a front frame and a rear frame of the tractor and used for measuring the vehicle body posture, the angular velocity and the acceleration and are fused with satellite navigation GNSS data through a Kalman filtering algorithm, the seat posture sensor is arranged on an adjusting platform base below a seat cushion and used for measuring deviation of the current posture and the target posture of the seat, and the satellite navigation GNSS is used for acquiring path forward looking information and the current vehicle speed and predicting the front road curvature and gradient change.
4. The seat active leveling method of a twist-back tractor according to claim 1, wherein the step S5 comprises the following sub-steps: S5a, predicting slow-changing disturbance of the seat posture caused by macroscopic terrain change based on path look-ahead information provided by a satellite navigation GNSS and the current vehicle speed; S5b, predicting the seat posture rapid-change disturbance caused by the bending waist swing based on the bending waist kinematic model and the geometric mapping relation; S5c, fusing the prediction results of the steps S5a and S5b to generate a comprehensive feedforward compensation signal; S5d, performing vibration spectrum analysis on the vehicle body vertical acceleration signal by adopting short-time Fourier transform, extracting dominant excitation frequency, inquiring a preset mapping table according to the dominant excitation frequency, and resolving the optimal equivalent stiffness and damping parameters currently required by the seat system; And S5e, fusing the comprehensive feedforward compensation signal, the deviation of the current posture and the target posture of the seat and the optimal rigidity damping parameter, and calculating by a self-adaptive PID controller based on the bending waist kinematic model prediction to generate a cooperative control instruction of the integrated position, the rigidity and the damping multi-target instruction.
5. The method for actively leveling the seat of the waist-bending tractor according to claim 1, wherein the driving module in the step S6 drives the seat multi-degree-of-freedom adjusting mechanism to perform the rolling and pitching adjustment comprises precisely controlling the output torque and the rotation speed of the motor by the rolling servo electric cylinder and the pitching servo electric cylinder according to the cooperative control command, converting the rotation motion into the linear motion, and driving the rolling and pitching adjusting mechanism of the seat.
6. The seat active leveling method of the waist-bending tractor according to claim 1, further comprising the step of S7, in the roll and pitch adjusting process, the cooperative controller receives state information from a CAN bus of the whole vehicle in real time, and if a special working condition is detected, the rigidity and the damping weight in the cooperative control instruction are dynamically improved.
7. The seat active leveling method of the waist bending tractor according to claim 1, further comprising the step of S8, ending a single control period, returning to the step of S2, and carrying out data acquisition and circulation control of the next period.

Description

Seat active leveling method for waist-bending tractor Technical Field The invention relates to the technical field of tractor seat leveling, in particular to a seat active leveling method of a waist bending tractor. Background The waist-twisting tractor is used as a novel agricultural mechanical device, and has been widely paid attention to and applied to China in recent years. The waist-bending tractor promotes the terrain adaptability through the waist-bending mechanism, but the swing of the waist-bending tractor mainly responds to the ground impact, belongs to passive or simple active control, does not consider the direct influence on the sitting posture of a driver, and the vehicle body tilts to cause the driver to tilt along with the waist-bending tractor, so that the waist-abdomen leaning force is required to maintain balance, and the fatigue is easy to cause. The existing intelligent seats of some advanced engineering machines have independent leveling functions, but sensors of the intelligent seats only monitor absolute postures of the seats or frames, so that the intelligent seats are follow-up compensation, response lag exists, when the waist is folded and twisted to swing rapidly, the leveling actions of the seats can lag, and comfort improvement is limited. Disclosure of Invention Aiming at the defects existing in the existing tractor seat leveling technology, the invention aims to provide a seat active leveling method of a waist-twisting tractor. In order to achieve the purpose, the technical scheme adopted by the invention is that the seat active leveling method of the waist-bending tractor comprises the following steps: s1, initializing a control system; s2, acquiring pose parameters and path information in real time by a pose sensing module, wherein the pose parameters and the path information comprise swing angles and angular velocities of hinge points of a hinge waist, inertial measurement data of front frames, rear frames and seats, and satellite navigation GNSS positioning data; Step S3, the cooperative controller calculates the current road surface bumping degree and the vehicle speed according to the pose parameters and the path information acquired by the pose control module in the step S2, if the current road surface bumping degree is greater than a preset bumping threshold or the current vehicle speed is lower than a preset vehicle speed threshold, the step S4 is executed, otherwise, the step S5 is executed; s4, generating a seat position adjusting instruction by the cooperative controller through a PID feedback control algorithm only according to the deviation between the current posture and the target posture of the seat, and then executing the step S6; S5, the cooperative controller enters a feedforward-feedback cooperative prediction control mode to generate a cooperative control instruction; And S6, the cooperative controller sends the position adjustment instruction generated in the step S4 or the cooperative control instruction generated in the step S5 to a driving module to drive the seat multi-degree-of-freedom adjustment mechanism to execute roll and pitch adjustment. Further, initializing the control system in step S1 includes setting a target attitude angle of the seat, a predicted control parameter, and various thresholds. Further, in step S2, the gesture sensing module includes a waist-bending joint sensor, a vehicle body inertia measurement unit IMU, a seat gesture sensor and a satellite navigation GNSS, wherein the waist-bending joint sensor is disposed on a waist-bending hinge shaft of the tractor and is used for measuring the swing angle and the angular velocity of the waist-bending, the two inertia measurement units IMU are rigidly mounted on a front frame and a rear frame of the tractor and are used for measuring the gesture, the angular velocity and the acceleration of the vehicle body and are fused with satellite navigation GNSS data through a kalman filtering algorithm, the seat gesture sensor is mounted on an adjusting platform base below a seat cushion and is used for measuring the real-time side inclination angle and the pitch angle of the seat platform relative to the rear frame and is electrically connected with a cooperative controller, and the satellite navigation GNSS is used for acquiring path forward looking information and current vehicle speed and predicting the front road curvature and gradient change. Further, step S5 comprises the sub-steps of: S5a, predicting slow-changing disturbance of the seat posture caused by macroscopic terrain change based on path look-ahead information provided by a satellite navigation GNSS and the current vehicle speed; S5b, predicting the seat posture rapid-change disturbance caused by the bending waist swing based on the bending waist kinematic model and the geometric mapping relation; S5c, fusing the prediction results of the steps S5a and S5b to generate a comprehensive feedforward compensation signal; S5d, perfor