| 摘要 |
A self-propelled harvesting machine includes a header, a hydraulic adjusting mechanism for adjusting the cutting height of the header, a height sensor for detecting the cutting height, a pressure sensor for detecting the hydraulic pressure at the adjusting mechanism and a control unit for actuating the adjusting mechanism on the basis of values measured by the height sensor and the pressure sensor. The control unit has a first control loop for generating a height-correction signal (hkorr) on the basis of the actual cutting height (hist) detected by the height sensor (10) and a setpoint cutting height (hsoll) and, a second control loop for regulating pressure at the adjusting mechanism, the setpoint value of which follows changes in the height-correction signal. |
| 主权项 |
1. A self-propelled harvesting machine (1), comprising:
a header (3), at least one hydraulic adjusting mechanism (5) for adjusting the cutting height of the header (3), at least one height sensor (10) for detecting the cutting height, at least one pressure sensor (7) for detecting a hydraulic pressure actual value (pist) at the adjusting mechanism (5), a control unit (25) for actuating the adjusting mechanism (5) on the basis of values measured by the height sensor (10) and the pressure sensor (7), wherein the control unit (25) comprises a first control loop (15) for generating a height-correction signal (hkorr) on the basis of the cutting height (hist) detected by the height sensor (10) and a setpoint cutting height (hsoll), and a second control loop (17), designed as a proportional controller, for regulating the pressure at the adjusting mechanism (5), wherein a setpoint value of the second control loop (17) is controlled to follow changes in the height-correction signal, wherein the first control loop (15) is switched between a proportional controller operating mode and a proportional and integral controller operating mode, wherein the first control loop (15) has a feedback input (23) that is connected to the output of the second control loop (17) and is designed to freeze an integral component of the height-correction signal (hkorr) when a pressure-correction signal (pkorr) reaches a specified limit value, and wherein an arithmetic circuit calculates and transfers a difference between the height correction signal (hkorr) and the pressure actual-value (pist) as a pressure-deviation signal (Δp) to the second control loop, which second control loop converts the pressure-deviation signal (Δp) to the pressure-correction signal (pkorr). |
