公开(公告)号：US5190111A

公开(公告)日：1993-03-02

申请号：US709237

申请日：1991-06-03

申请人： Steven C. Young ,  Bradley A. Nielsen ,  James W. Macqueene ,  Garrett E. Swierenga

发明人： Steven C. Young ,  Bradley A. Nielsen ,  James W. Macqueene ,  Garrett E. Swierenga

IPC分类号： A01B63/112 ,  A01B63/114 ,  B60D1/42 ,  E02F9/20

CPC分类号： E02F9/2029 ,  A01B63/112 ,  A01B63/114 ,  B60D1/42

摘要： An automatic draft control for controlling the position of a tractor-mounted hitch includes a slip override circuit responsive to a wheel signal for modifying a hitch position command so that hitch draft is reduced by raising the hitch when the degree of tractor wheel slip exceeds a threshold value. The slip is determined by measuring theoretical (no-slip) ground speed with a sensor which senses the rate of rotation of the tractor rear axle, and measuring true ground speed with a radar unit mounted on one side of the tractor. Because the radar unit does not indicate the speed of the center line of the tractor as it turns, the slip signal is prevented from modifying the hitch position command if the hitch is raised since the hitch is usually raised when turning and there is no need to modify the position command with the slip signal when the hitch is raised. The true ground speed is automatically and repeatedly divided by the rate of rotation of the tractor rear axle when conditions are such that wheel slippage is unlikely. The multiple divisions produce plural indications of a correction factor. These indications are filtered to obtain a correction factor which accounts for variations in the effective rolling radius of the wheels. Once the correction factor has been determined it is applied to the wheel speed sensor output to calculate the theoretical ground speed of the vehicle.

摘要翻译： 用于控制牵引车安装的牵引车的位置的自动牵伸控制包括滑移覆盖电路，其响应于用于修改牵引位置指令的车轮信号，从而当拖拉机车轮滑动的程度超过阈值时通过提高牵引力来减小牵引牵伸 值。 通过用感测拖拉机后桥的旋转速度的传感器测量理论（无滑差）地面速度，以及安装在拖拉机一侧的雷达单元测量真实地面速度来确定滑差。 因为雷达单元没有指示拖拉机的中心线的转速，所以如果挂起升高，则阻止滑行信号修改搭接位置指令，因为在转弯时通常抬起挂钩并且不需要 当挂起提升时用滑差信号修改位置指令。 当条件使得滑轮不太可能时，真实的地面速度被自动重复地除以拖拉机后桥的旋转速度。 多个分割产生修正因子的多个指示。 这些指示被过滤以获得考虑到轮的有效滚动半径的变化的校正因子。 一旦确定了校正因子，就将其应用于车轮速度传感器输出，以计算车辆的理论地面速度。