Disclosure of Invention
The invention provides a precise control system and a control method based on a linkage fertilizer applicator, which control the output power of a hydraulic motor by changing an electric motor into the hydraulic motor and taking the fertilizer reduction amount in unit time as an input parameter, so that the fertilizer application speed can be precisely controlled, and the problem that the precision of the fertilizer application speed is difficult to control in the prior art is solved.
The precise control system based on the linkage fertilizer applicator comprises a weighing sensor, an analog-to-digital converter, an ECU controller and a hydraulic motor which are sequentially connected,
the output end of the hydraulic motor drives the fertilizer sowing shaft, and the ECU controls and adjusts the rotating speed of the hydraulic motor in real time according to the weight signal input by the weighing sensor.
Further, the weighing sensor is used for detecting the weight of the fertilizer box once every preset unit detection time and outputting a detected weight analog signal to the ECU controller;
the analog-to-digital converter is used for converting the weight analog signal into a weight digital signal and sending the weight digital signal to the ECU controller;
and the ECU is used for controlling and adjusting the rotating speed of the hydraulic motor according to the change of the weight digital signal and other agricultural machinery operation parameters.
Further, the ECU controller includes a detection unit and a hydraulic motor control unit, wherein,
the detection unit is used for detecting the fertilizer weight signal once every preset time, converting the fertilizer weight signal into a weight value, and detecting the weight value through two adjacent times to obtain a fertilizer reduction amount in unit time;
and the hydraulic motor control unit is used for calculating the rotation speed of the hydraulic motor according to the fertilizer reduction amount in unit time and other agricultural machinery operation parameters and controlling the hydraulic motor to reach the rotation speed of the hydraulic motor.
Further, other agricultural machinery operation parameters are the number of fertilizer applying acres per unit time and the fertilizer applying amount per acre.
Further, the weighing sensor is a cantilever sensor.
The precise control method based on the linkage fertilizer applicator is based on the precise control system based on the linkage fertilizer applicator, and comprises the following steps of:
s100, outputting a weight signal to an ECU controller by a weighing sensor every preset unit detection time;
s200, the ECU controller obtains the fertilizer reduction amount in unit time according to the weight signals detected by two adjacent times;
and S300, the ECU calculates the rotation speed of the hydraulic motor according to the fertilizer reduction amount in unit time and other agricultural machinery operation parameters, and controls the hydraulic motor to reach the rotation speed of the hydraulic motor.
Further, in S300, the rotation speed of the hydraulic motor is adjusted, so as to control the rotation speed of the fertilization shaft, and further adjust the fertilization amount, so as to achieve the set value process of fertilization amount per mu:
let the ridge distance be m meters, the line number be n, the fertilization amount of per mu k kg/mu, the axle rotational speed p changes/minute, locomotive speed v kilometers/hour, then the fertilization mu number in the preset unit detection time is:
the amount of decrease of the fertilizer in the preset unit detection time is Deltaw, and the fertilizing amount per mu in the preset unit detection time is as follows:
in the formula (2), the fertilizer amount reduction amount Deltaw is calculated every preset unit detection time Deltat, k1 is compared with the set fertilizer amount k per mu, the rotating speed of the hydraulic motor is calculated and controlled according to the difference value |k1-k|, and the rotating speed of the hydraulic motor is controlled with the difference value approaching zero as a target.
Further, in detecting the weight signal, the ECU controller filters the detected weight signal.
A storage medium, on which a computer program is stored, which when executed by a processor implements a precision control method based on a linkage fertilizer applicator as described above.
A computer device, comprising: the precise control method based on the linkage fertilizer distributor comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the program to realize the precise control method based on the linkage fertilizer distributor.
The invention has the beneficial effects that:
based on the background technology, the technical proposal provided by the user can bring the following beneficial effects:
1. and (3) accurate fertilization control: by adopting components such as a weighing sensor, an analog-to-digital converter, an ECU (electronic control unit) and the like, the accurate control of the fertilizing amount is realized. The system can monitor the weight change of the fertilizer box in real time and adjust the rotating speed of the hydraulic motor according to the weight signal and other agricultural machinery operating parameters, thereby realizing accurate fertilization control. Obviously improves the precision of fertilization, reduces the waste of fertilizer and the shortage of fertilizer application amount, and is beneficial to improving the yield and quality of crops.
2. Automatic adjusting function: the hydraulic motor rotating speed can be calculated according to the fertilizer reduction amount per unit time and other agricultural machinery operating parameters through a detection unit and a hydraulic motor control unit in the ECU controller, and the hydraulic motor rotating speed can be automatically adjusted. The automatic adjusting function can be flexibly adjusted according to actual fertilization conditions, and more intelligent and efficient fertilization control is provided.
3. The fertilization cost is reduced: accurate fertilization control can avoid the waste of fertilizer and the cost increase that excessive fertilization brought. By optimizing the fertilizing amount, the fertilizer resources are reasonably utilized, so that the fertilizing cost can be reduced and the economic benefit can be improved for farmers.
4. And the maintenance cost is reduced: by replacing the electric motor with the hydraulic motor, the output rotating speed of the motor is stable, the influence caused by rust of the fertilizer sowing shaft is overcome, and the maintenance requirement of equipment is reduced.
Detailed Description
The following description of the technical solutions in the embodiments of the present invention will be clear and complete, and it is obvious that the described embodiments are only some embodiments of the present invention, but not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The precise control system based on the linkage fertilizer applicator comprises a weighing sensor, an analog-to-digital converter, an ECU controller and a hydraulic motor which are sequentially connected,
the output end of the hydraulic motor drives the fertilizer sowing shaft, and the ECU controls and adjusts the rotating speed of the hydraulic motor in real time according to the weight signal input by the weighing sensor.
Specifically, the weight data of the fertilizer box is obtained through the weighing sensor, and is converted into a digital signal by means of the analog-to-digital converter, so that the ECU can control and regulate the hydraulic motor in real time. The accurate fertilization control can ensure the accurate application amount of fertilizer, reduce waste and deficiency and improve the accuracy and efficiency of fertilization. The ECU controller can monitor the consumption condition of the fertilizer in real time by receiving the weight signal of the weighing sensor. According to the monitoring result, the ECU can intelligently adjust the rotating speed of the hydraulic motor, ensure that the applied quantity is matched with the actual demand, and realize real-time adjustment and control. Because the accurate fertilization control system can accurately control the fertilization amount, crops can be supplemented with proper nutrition, and therefore yield and quality are improved. Accurate fertilization control is helpful for meeting the demands of crop growth and avoiding the negative influence of excessive or insufficient fertilization on crop growth.
Because the control mode of driving fertilization is changed into hydraulic motor driving, the problem of insufficient output power of a common motor is fundamentally overcome, and a matched hydraulic motor can be selected as long as the tractor can output enough power. In the prior art, the common motor driving mode has limited output power, and if the fertilizer amount is large, or the output is different, or the fertilizer is scabbed, the fertilizer application shaft is clamped. The invention adopts the hydraulic motor, the output torque is large enough, and the problem of locked rotor is fundamentally solved.
The precise control system based on the linkage fertilizer applicator realizes precise fertilizer application control and real-time adjustment functions through the organic combination of the weighing sensor, the analog-to-digital converter, the ECU controller and the hydraulic motor.
Further, the weighing sensor is used for detecting the weight of the fertilizer box once every preset unit detection time and outputting a detected weight analog signal to the ECU controller;
the analog-to-digital converter is used for converting the weight analog signal into a weight digital signal and sending the weight digital signal to the ECU controller;
and the ECU is used for controlling and adjusting the rotating speed of the hydraulic motor according to the change of the weight digital signal and other agricultural machinery operation parameters.
Specifically, the weighing sensor is used for detecting the weight of the fertilizer box every preset unit detection time. The real-time weight detection can acquire accurate data of fertilizer consumption conditions, and provides important basis for subsequent fertilizer application amount control. The weighing sensor converts the detected weight of the fertilizer box into an analog signal and outputs the analog signal to the analog-to-digital converter. The analog signal can accurately express the weight change in the fertilizer box and provide input for subsequent digital signal processing.
The analog-to-digital converter receives the analog signal output by the weighing sensor and converts the analog signal into a digital signal. This conversion converts the continuously varying analog signal into a discrete digital signal, facilitating subsequent digital signal processing and control adjustments.
The analog-to-digital converter sends the converted weight digital signal to the ECU controller. The transmission of the digital signals can reduce signal interference and attenuation, and ensure the accuracy and reliability of data.
And the ECU controller adjusts and controls the rotating speed of the hydraulic motor in real time according to the weight digital signals and other agricultural machinery operation parameters. The ECU controller can realize accurate fertilization amount control by means of the change of the weight digital signal, and the fertilization accuracy and consistency are ensured.
Further, the ECU controller includes a detection unit and a hydraulic motor control unit, wherein,
the detection unit is used for detecting the fertilizer weight signal once every preset time, converting the fertilizer weight signal into a weight value, and detecting the weight value through two adjacent times to obtain a fertilizer reduction amount in unit time;
and the hydraulic motor control unit is used for calculating the rotation speed of the hydraulic motor according to the fertilizer reduction amount in unit time and other agricultural machinery operation parameters and controlling the hydraulic motor to reach the rotation speed of the hydraulic motor.
Specifically, the detection unit detects the fertilizer weight signal at preset time intervals. This allows periodic acquisition of the weight data of the fertilizer box for accurate calculation of the fertilizer reduction per unit time. The detection unit converts the detected weight signal into a corresponding weight value. By detecting the difference between the weight values in two adjacent times, the amount of decrease in fertilizer per unit time can be calculated. The accurate calculation can provide accurate data and provide basis for the corresponding regulation and control of the hydraulic motor control unit.
The hydraulic motor control unit calculates based on the amount of fertilizer reduction per unit time and other agricultural machine operating parameters to determine the speed at which the hydraulic motor should be rotated. According to the calculation result of the weight value and the comprehensive consideration of other agricultural machinery operation parameters, the hydraulic motor control unit can accurately calculate the ideal rotating speed of the hydraulic motor so as to meet the actual fertilization requirement. The hydraulic motor control unit is matched with the hydraulic control system according to the calculated ideal rotating speed of the hydraulic motor, so that the rotating speed of the hydraulic motor is ensured to reach a preset value. Thus, accurate fertilization control can be realized, the release amount is adjusted, and the accuracy and consistency of fertilization are ensured. The hydraulic motor control unit can be adjusted in time according to the changes of the operation parameters of different agricultural machinery so as to realize intelligent fertilization adjustment.
Further, other agricultural machinery operation parameters are the number of fertilizer applying acres per unit time and the fertilizer applying amount per acre.
Further, the weighing sensor is a cantilever sensor, and the sensitivity is 2mv/v output.
Specifically, the weighing sensor adopts a cantilever sensor, and in the embodiment, the sensitivity is 2mv/v output. If a sensor is arranged below the fertilizer box, the measuring range of the sensor is 0-2.5 tons. If 6 sensors are adopted to be arranged under the fertilizer box, the measuring range of the sensors is 0-500kg, and the measuring range of the sensors can be greatly reduced in the mode, so that the measuring resolution is greatly improved, and the accuracy of weight detection is further improved.
The precise control method based on the linkage fertilizer applicator is based on the precise control system based on the linkage fertilizer applicator, and comprises the following steps of:
s100, outputting a weight signal to an ECU controller by a weighing sensor every preset unit detection time;
s200, the ECU controller obtains the fertilizer reduction amount in unit time according to the weight signals detected by two adjacent times;
and S300, the ECU calculates the rotation speed of the hydraulic motor according to the fertilizer reduction amount in unit time and other agricultural machinery operation parameters, and controls the hydraulic motor to reach the rotation speed of the hydraulic motor.
Further, in S300, the rotation speed of the hydraulic motor is adjusted, so as to control the rotation speed of the fertilization shaft, and further adjust the fertilization amount, so as to achieve the set value process of fertilization amount per mu:
let the ridge distance be m meters, the line number be n, the fertilization amount of per mu k kg/mu, the axle rotational speed p changes/minute, locomotive speed v kilometers/hour, then the fertilization mu number in the preset unit detection time is:
the amount of decrease of the fertilizer in the preset unit detection time is Deltaw, and the fertilizing amount per mu in the preset unit detection time is as follows:
in the formula (2), the fertilizer amount reduction amount Deltaw is calculated every preset unit detection time Deltat, k1 is compared with the set fertilizer amount k per mu, the rotating speed of the hydraulic motor is calculated and controlled according to the difference value |k1-k|, and the rotating speed of the hydraulic motor is controlled with the difference value approaching zero as a target.
Specifically, in the present embodiment, the amount of fertilizer reduction Δw (kg) may be calculated at a time interval of Δt=10ms=0.01 s, and compared with the set value k, the rotational speed of the motor may be calculated and controlled based on the difference |k1-k|.
The control and detection method does not need to detect the actual rotation speed of the hydraulic motor, is only related to the width of the fertilizer box (F=m×n), the ECU controller only needs to detect the locomotive speed and the reduction amount of the fertilizer in real time,
the actual control requirement is achieved by controlling the actual rotation speed of the motor to make the difference value zero.
The locomotive speed detection method is an existing molding scheme, the implementation process can be quickened, in order to overcome positioning failure or improve speed measurement accuracy, the method of the speed measurement radar is adopted at the same time, the satellite speed measurement method and the speed measurement radar method are used in a complementary mode, the locomotive running speed is measured by adopting GPS and Beidou positioning and speed measurement, and the accuracy is improved by adopting MTK differential speed measurement through a base station. The radar speed measurement scheme adopts an imported molding radar, is a common scheme in normal operation, and adopts Beidou and GPS positioning speed measurement to realize functional complementation under the condition of radar detection failure; in addition, two complementary implementations are also required during short periods of parking and start-up, since in both operating conditions the speed is not stable, and the maximum speed scheme detected therein is employed, so that a quick fertilization is possible.
Further, in detecting the weight signal, the ECU controller filters the detected weight signal.
Specifically, the method measures the weight signal and locomotive speed at the current moment every 20ms (unit detection time), calculates the reduction amount of the fertilizer amount in the time, and an ECU (electronic control unit) calculates the calculated value of the reduction amount of the fertilizer amount according to the locomotive speed, the width of a fertilizer box and a fertilizer amount set value of mu through the formula, converts the difference between the calculated value and the previous actual value into a motor rotating speed signal and further outputs a control signal to a motor control system, so that the aim of controlling the motor rotating speed is fulfilled, and the whole control system can adjust the rotating speed of a hydraulic motor in real time according to different locomotive speeds, thereby controlling the fertilizer amount of mu.
The weighing sensor can be subjected to vibration and jolt in the running process of the locomotive, and how to avoid the interference of the vibration of the agricultural machinery on the weighing is an important subject content. Firstly, a detection unit is adopted to detect and measure a weighing sensor, and the detection unit has a hardware filtering function, so that interference signals can be removed from the detection front end, and the influence of vibration and jolt on measurement accuracy is reduced; secondly, the detection unit also adopts a multi-point filtering method to remove a plurality of invalid signals, rapidly collects the signals, then orders the signals, removes a plurality of maximum values and minimum values, takes intermediate data, and then averages the data, so that the invalid signals generated by vibration can be effectively removed, and the data are smoothed; in the case of a load cell, multiple sensors or one sensor may be used for weighing. In the embodiment, 6 weighing sensors are adopted at most, so that the range of each sensor is greatly shortened, the precision and the resolution can be greatly improved, meanwhile, the vibration frequencies of the 6 sensors are not identical, and invalid vibration interference data are easy to remove through data analysis.
Regarding the data analysis method capable of eliminating invalid vibration interference data, there are various methods in the prior art, such as curve fitting and filtering, fourier transformation, adaptive filtering, statistical analysis, machine learning and pattern recognition, or using a machine learning algorithm and a pattern recognition technique, which can achieve the purpose of data analysis according to the present invention.
A storage medium, on which a computer program is stored, which when executed by a processor implements a precision control method based on a linkage fertilizer applicator as described above.
A computer device, comprising: the precise control method based on the linkage fertilizer distributor comprises a memory, a processor and a computer program which is stored in the memory and can run on the processor, wherein the processor executes the program to realize the precise control method based on the linkage fertilizer distributor.
In particular, it should be noted that the system and method of the present invention can be applied not only to a fertilizer applicator, but also to a drill, and can be used to adjust the motor speed by taking the weight obtained by weighing as a reference.
The precise control system and method based on the linkage fertilizer applicator can realize precise fertilizer application control, ensure precise fertilizer application amount, reduce waste and deficiency and improve the accuracy and efficiency of fertilizer application. The ECU monitors the consumption condition of the fertilizer in real time according to the weight signal provided by the weighing sensor, intelligently adjusts the rotating speed of the hydraulic motor, and realizes real-time adjustment and control. Thus, the application amount can be ensured to be matched with the actual demand, and the yield and quality of crops are improved. Accurate fertilization control is helpful for meeting the demands of crop growth and avoiding the negative influence of excessive or insufficient fertilization on crop growth.
Meanwhile, as the hydraulic motor is adopted to drive fertilization, the problems of insufficient output power, clamping and the like of the common motor are solved. A matched hydraulic motor may be selected as long as the tractor itself is capable of outputting sufficient power. The output torque of the hydraulic motor is large enough, so that the problem of locked rotor can be fundamentally solved.
In addition, the weighing sensor adopts a cantilever sensor as a weight detection device, and an analog signal is converted into a digital signal through an analog-to-digital converter. The measuring accuracy can be improved by measuring the weight by a plurality of sensors, and the influence of vibration and jolt on the measuring accuracy can be reduced by adopting a filtering function and a multipoint filtering method.