CN211458028U - Intelligent control system for operating speed of potato harvester - Google Patents
Intelligent control system for operating speed of potato harvesterDownload PDFInfo
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Abstract
Translated fromChinese
Description
Translated fromChinese技术领域technical field
本实用新型涉及一种薯类收获机作业速度智能控制系统，属于农业机械领域。The utility model relates to an intelligent control system for the operation speed of a potato harvester, which belongs to the field of agricultural machinery.
背景技术Background technique
薯类收获机作业速度包括收获机行走速度和薯土分离装置线速度。The operating speed of the potato harvester includes the walking speed of the harvester and the linear speed of the potato soil separation device.
薯类收获机进行收获作业时，驾驶员凭经验以设定的初始速度进行恒速作业（速度一般为3～7 km/h）。如果作业速度太快，易造成堵塞，明薯率降低，牵引力过大易导致机器故障；如果作业速度过慢，不仅无法充分发挥机械收获的效率优势，造成生产率下降，同时由于作物在分离装置上停留时间过长，会造成伤薯率和破皮率增加。倘若能够根据薯类作物喂入量实时调整作业速度，使收获机在分离装置不堵塞情况下始终工作在最佳速度，则可以大大提高收获作业性能指标，同时减轻操作人员的作业强度。When the potato harvester is harvesting, the driver will operate at a constant speed at the set initial speed based on experience (the speed is generally 3-7 km/h). If the working speed is too fast, it is easy to cause blockage, the rate of open potato is reduced, and the traction force is too large, which may easily lead to machine failure; if the working speed is too slow, it will not only fail to give full play to the efficiency advantages of mechanical harvesting, resulting in a decrease in productivity, but also because the crops are on the separation device. If the residence time is too long, the rate of potato injury and skin breakage will increase. If the operation speed can be adjusted in real time according to the feeding amount of potato crops, so that the harvester can always work at the optimal speed without clogging the separation device, the performance index of the harvesting operation can be greatly improved, and the work intensity of the operator can be reduced at the same time.
薯土分离装置是薯类收获机的重要部件，在工作时承受的负荷很大，其单位时间喂入量达150～200 kg/s。性能方面要求分离掉的土壤达70%～80%、工作可靠、对薯块的损伤小、在分离的同时把剩余的土壤向后输送。常见收获分离方式有振动分离式、斜置平输送和拨辊推送式等形式。随着薯类生产机械向大型化、智能化发展，田间收获作业时作物的输送量越来越大，对输送分离装置的薯土分离能力和工作效率提出了更高的要求。The potato soil separation device is an important part of the potato harvester, which bears a large load during operation, and the feeding amount per unit time is 150-200 kg/s. In terms of performance, 70% to 80% of the soil is required to be separated, the work is reliable, the damage to the potato pieces is small, and the remaining soil is transported backwards at the same time of separation. Common harvesting separation methods include vibration separation, oblique flat conveying, and roller push. With the development of large-scale and intelligent potato production machinery, the conveying volume of crops during field harvesting operations is increasing, which puts forward higher requirements for the separation capacity and work efficiency of the conveying and separating device.
薯类收获机行走速度和分离装置线速度是直接影响作业质量和收获效率的主要控制参数，其行走速度和和分离装置线速度应能根据作业状况进行实时调整，性能良好的薯类收获机应该在不超过额定喂入量和明薯率指标合格的前提下具有最大的行走速度。目前，国内外农机研究人员在收获机行走速度和分离装置线速度的自动控制方面已作了不少研究，取得了较多的研究成果。吕金庆等针对粘重土壤马铃薯挖掘机作业阻力大、易堵塞、故障率高、机械损伤率高、分离效果差、明薯率低等突出问题，研究设计了4U2A型马铃薯挖掘机，其分离装置采用二级升运链结构，同时阐述了收获机行走速度和分离装置线速度的配比关系；魏宏安等针对目前国内条铺式马铃薯挖掘机存在的人工拣拾薯块费工费时、效率低等突出问题，研制了一种44~58.8 kW拖拉机半悬挂式中型马铃薯联合收获机，该机采用了两级带杆式土薯分离输送装置和杠杆摆臂式支撑辊，并分析了分离输送栅杆带的线速度、振动频率及振幅等分离输送装置的运动参数，同时论述了栅杆带的线速度与机组速度的取值范围；陆祥辉等针对国内马铃薯联合收获机纵向尺寸较大、田间作业掉头不灵活、通过性及稳定性较差的问题，对4U-1400马铃薯联合收获机二级土薯分离输送装置的刮板高度、输送速度和倾斜角度等重要参数进行分析，获取最优参数，并通过田间试验验证其结果。The walking speed of the potato harvester and the linear speed of the separating device are the main control parameters that directly affect the quality of work and harvesting efficiency. The walking speed and the linear speed of the separating device should be adjusted in real time according to the operating conditions. A potato harvester with good performance should It has the maximum walking speed under the premise of not exceeding the rated feeding amount and the target of bright potato rate. At present, agricultural machinery researchers at home and abroad have done a lot of research on the automatic control of the walking speed of the harvester and the linear speed of the separation device, and have achieved many research results. Lu Jinqing et al. have studied and designed a 4U2A potato excavator in view of the prominent problems such as high operating resistance, easy blockage, high failure rate, high mechanical damage rate, poor separation effect, and low open potato rate, etc. The structure of the second-level elevator chain, and the ratio relationship between the walking speed of the harvester and the linear speed of the separation device is described; Wei Hongan et al. To solve the problem, a 44~58.8 kW tractor semi-mounted medium-sized potato combine harvester was developed. The machine adopts a two-stage belt-rod soil-potato separation conveying device and a lever swing arm type support roller, and analyzed the separation conveying grid rod belt. The linear speed, vibration frequency and amplitude of the separation conveying device motion parameters, and also discussed the range of the linear speed of the grid belt and the speed of the unit; Lu Xianghui et al. For the problems of flexibility, passability and poor stability, the important parameters such as the scraper height, conveying speed and inclination angle of the secondary soil and potato separation and conveying device of the 4U-1400 potato combine harvester were analyzed to obtain the optimal parameters, and passed Field trials confirmed the results.
上述几种收获机作业速度控制系统虽然对薯类收获机行走速度和分离装置线速度的配比关系进行了研究，但没有提出一种行之有效的解决方案。薯类收获机行走速度都是靠驾驶员凭经验获得，分离装置从拖拉机动力输出轴获取动力，在拖拉机满负荷工作时，动力输出轴输出转速恒定，则分离装置线速度也恒定不变，除非更换传动链轮。几种方案都没有根据土壤类型、薯种、动力及对收获质量要求的不同，实时调整薯类收获机行走速度和分离装置线速度的大小和配比关系，从而减少收获作业的拥堵和提高收获性能指标。Although the above several harvester operating speed control systems have studied the ratio relationship between the potato harvester's walking speed and the linear speed of the separation device, they have not proposed an effective solution. The walking speed of the potato harvester is obtained by the driver's experience. The separation device obtains power from the tractor's power take-off shaft. When the tractor is working at full load, the output speed of the power take-off shaft is constant, and the linear speed of the separation device is also constant, unless Replace drive sprocket. Several schemes do not adjust the size and ratio of the speed of the potato harvester and the linear speed of the separation device in real time according to the different soil types, potato seeds, power and requirements for harvesting quality, thereby reducing the congestion of harvesting operations and improving harvesting. Performance.
综观薯类收获机械行业现状，急需一种智能化水平高的薯类收获机作业速度控制系统，实现薯类收获机行走速度和分离装置线速度的自适应控制，提高收获质量水平。Looking at the current situation of the potato harvesting machinery industry, there is an urgent need for a high-level intelligent potato harvester operating speed control system to realize the adaptive control of the potato harvester's walking speed and the linear speed of the separation device, and to improve the level of harvest quality.
实用新型内容Utility model content
为了克服现有薯类收获机作业速度控制不足，本实用新型提供一种薯类收获机作业速度智能控制系统，实现薯类收获机作业机器行走速度和分离装置线速度的实时调整。In order to overcome the shortage of the operation speed control of the existing potato harvester, the utility model provides an intelligent control system for the operation speed of the potato harvester, which realizes the real-time adjustment of the running speed of the potato harvester and the linear speed of the separation device.
本实用新型为实现上述目的，通过以下技术方案实现：In order to realize the above-mentioned purpose, the present utility model realizes through the following technical solutions:
一种薯类收获机作业速度智能控制系统， 包括信号采集模块、车载控制器、电磁阀驱动模块和监控终端，信号采集模块包括设置在薯类收获机上各个工作部件监测点的传感器，用于采集薯类收获机的作业信息；监控终端，用于对用于收获时对薯类收获机输入作业指令及实时显示工作状态参数；车载控制器为模糊自适应控制器，信号采集模块采集的信号经过信号调理电路处理后输入车载控制器，经过模型参考模糊自适应控制算法，车载控制器得出薯类收获机行走速度和土薯分离装置线速度的改变量，车载控制器根据改变量输出电压信号驱动电磁阀驱动模块调整机器行走速度和土薯分离装置线速度，进行收获作业；信号采集模块连接车载控制器输入端，车载控制器输出端连接电磁阀驱动模块，监控终端连接车载控制器输入端和输出端。An intelligent control system for the operation speed of a potato harvester, comprising a signal acquisition module, a vehicle-mounted controller, a solenoid valve drive module and a monitoring terminal, and the signal acquisition module includes sensors arranged at monitoring points of various working parts on the potato harvester for collecting The operation information of the potato harvester; the monitoring terminal is used to input operation instructions to the potato harvester and display the working status parameters in real time during harvesting; the vehicle-mounted controller is a fuzzy adaptive controller, and the signals collected by the signal acquisition module pass through. After the signal conditioning circuit is processed, it is input to the on-board controller. After the model reference fuzzy adaptive control algorithm, the on-board controller obtains the change of the speed of the potato harvester and the linear speed of the potato separation device, and the on-board controller outputs the voltage signal according to the change. Drive the solenoid valve drive module to adjust the machine walking speed and the linear speed of the potato separation device to carry out harvesting operations; the signal acquisition module is connected to the input end of the vehicle controller, the output end of the vehicle controller is connected to the solenoid valve drive module, and the monitoring terminal is connected to the input end of the vehicle controller and output.
所述的薯类收获机作业速度智能控制系统优选方案，信号采集模块包括安装在薯类收获机行走机构的行走测速传感器，安装在土薯分离装置液压马达上的分离测速传感器和安装在土薯分离装置机架上的近红外光土薯喂入量传感器。In the preferred scheme of the intelligent control system for the operating speed of the potato harvester, the signal acquisition module includes a traveling speed sensor installed on the traveling mechanism of the potato harvester, a separation speed sensor installed on the hydraulic motor of the potato separation device, and a speed sensor installed on the potato harvester. Near-infrared light potato feed sensor on the rack of the separation unit.
所述的薯类收获机作业速度智能控制系统优选方案，信号采集模块（4）包括安装在薯类收获机行走机构的行走测速传感器，安装在土薯分离装置液压马达上的分离测速传感器和安装在土薯分离装置机架上的近红外光土薯喂入量传感器。In the preferred solution of the intelligent control system for the operation speed of the potato harvester, the signal acquisition module (4) includes a traveling speed sensor installed on the traveling mechanism of the potato harvester, a separation speed sensor installed on the hydraulic motor of the potato separation device, and a Near-infrared light potato feed sensor on the potato separator rack.
薯类收获机作业速度智能控制系统优选方案，行走测速传感器的信号采集电路包括信号调理电路和MCP3208转换器，行走测速传感器输出信号以差分方式接入信号调理电路，经过处理后由CH0端送入MCP3208转换器转换，转换后的数字信号直接送入车载控制器进行数据处理。The optimal solution for the intelligent control system for the operating speed of the potato harvester. The signal acquisition circuit of the walking speed sensor includes a signal conditioning circuit and an MCP3208 converter. The output signal of the walking speed sensor is differentially connected to the signal conditioning circuit, and is sent to the CH0 terminal after processing. The MCP3208 converter is converted, and the converted digital signal is directly sent to the on-board controller for data processing.
薯类收获机作业速度智能控制系统优选方案，行走装置电磁阀的信号处理电路包括运算放大器LM358和BAV99BAV99芯片, 运算放大器LM358的第一运放输出端out1经电阻R2和电阻R3连接电源，第一运放正向输入端IN1+接输出电压VoutA，第一运放反向输入端IN1-连接电阻R2，第二运放放输出端out2经电阻R5连接第二运放反向输入端IN2-，第二运放反向输入端IN2-经电阻R4接地，第二运放反向输入端IN2-，运算放大器LM358的正负电源引脚分别连接BAV99芯片的正负极。The preferred solution of the intelligent control system for the operation speed of the potato harvester. The signal processing circuit of the solenoid valve of the traveling device includes the operational amplifier LM358 and BAV99BAV99 chips. The first operational amplifier output out1 of the operational amplifier LM358 is connected to the power supply through the resistor R2 and the resistor R3. The forward input terminal IN1+ of the operational amplifier is connected to the output voltage VoutA, the reverse input terminal IN1- of the first operational amplifier is connected to the resistor R2, and the output terminal out2 of the second operational amplifier is connected to the reverse input terminal IN2- of the second operational amplifier through the resistor R5. The reverse input terminal IN2- of the second operational amplifier is grounded through the resistor R4, the reverse input terminal IN2- of the second operational amplifier, and the positive and negative power pins of the operational amplifier LM358 are respectively connected to the positive and negative poles of the BAV99 chip.
薯类收获机作业速度智能控制系统优选方案，车载控制器（2）采用ATMEGA32A-AU单片机。The optimal solution for the intelligent control system for the operation speed of the potato harvester, the on-board controller (2) adopts the ATMEGA32A-AU single-chip microcomputer.
本实用新型的工作原理：通过安装在拖拉机上的行走装置测速传感器，安装在土薯分离装置液压马达上的分离测速传感器和安装在土薯分离装置机架上的四组近红外光土薯喂入量传感器采集薯类收获机的作业信息，控制系统将传感器采集到的信号作为系统当前的输入信号，经过模型参考模糊自适应控制算法，得出机器行走速度和土薯分离装置速度的改变量。控制器根据改变量输出电压控制信号驱动电磁阀调整机器行走速度和土薯分离装置速度，使其按照最优速度和最优速度配比进行收获作业。The working principle of the utility model: through the speed measuring sensor of the traveling device installed on the tractor, the separation speed measuring sensor installed on the hydraulic motor of the potato separation device, and the four groups of near-infrared light soil potato feeders installed on the frame of the potato separation device The input sensor collects the operation information of the potato harvester, and the control system uses the signal collected by the sensor as the current input signal of the system. Through the model reference fuzzy adaptive control algorithm, the change amount of the machine walking speed and the speed of the potato separation device is obtained. . The controller drives the solenoid valve to adjust the walking speed of the machine and the speed of the potato separation device according to the output voltage control signal of the change amount, so that the harvesting operation is carried out according to the optimal speed and the optimal speed ratio.
本实用新型的优点在于：在收获作业中通过自适应模糊 PID算法实现对行走装置速度和分离装置线速度的自动调节，进一步提高了薯类收获机械自动化水平和作业性能。The advantage of the utility model is that the self-adaptive fuzzy PID algorithm realizes the automatic adjustment of the speed of the traveling device and the linear speed of the separation device in the harvesting operation, which further improves the automation level and operation performance of the potato harvesting machinery.
附图说明Description of drawings
附图用来提供对本实用新型的进一步理解，并且构成说明书的一部分，与本实用新型的实施例一起用于解释本实用新型，并不构成对本实用新型的限制。The accompanying drawings are used to provide a further understanding of the present invention, and constitute a part of the specification, and are used to explain the present invention together with the embodiments of the present invention, and do not constitute a limitation to the present invention.
图1为本实用新型结构示意图；Fig. 1 is the structural representation of the utility model;
图2为本实用新型车载控制器电路图；Fig. 2 is the circuit diagram of the utility model vehicle-mounted controller;
图3为本实用新型行走测速传感器信号调理电路图；Fig. 3 is the signal conditioning circuit diagram of the walking speed sensor of the utility model;
图4为本实用新型行走测速传感器A/D转换电路图；Fig. 4 is the utility model walking speed sensor A/D conversion circuit diagram;
图5为本实用新型行走装置电磁阀模拟量输入电路图；Fig. 5 is the analog input circuit diagram of the electromagnetic valve of the walking device of the utility model;
图6为本实用新型模糊自适应控制系统结构示意图；6 is a schematic structural diagram of the fuzzy self-adaptive control system of the present invention;
图7为本实用新型方法流程图。FIG. 7 is a flow chart of the method of the present invention.
其中，1. 监控终端，2. 车载控制器，3. 电磁阀驱动模块，4. 信号采集模块，5.行走装置电磁阀，6.行走液压变量泵，7.分离机构电磁阀，8.分离液压变量泵，9.分离测速传感器，10.土薯分离装置，11. 行走测速传感器，12.行走机构，13.喂入量传感器，14.机架总成。Among them, 1. Monitoring terminal, 2. Vehicle controller, 3. Solenoid valve drive module, 4. Signal acquisition module, 5. Solenoid valve of traveling device, 6. Traveling hydraulic variable pump, 7. Solenoid valve of separation mechanism, 8. Separation Hydraulic variable pump, 9. Separation speed sensor, 10. Potato separation device, 11. Walking speed sensor, 12. Walking mechanism, 13. Feeding amount sensor, 14. Frame assembly.
具体实施方式Detailed ways
下面将结合本实用新型实施例中的附图，对本实用新型实施例中的技术方案进行清楚、完整地描述，显然，所描述的实施例仅仅是本实用新型一部分实施例，而不是全部的实施例。基于本实用新型中的实施例，本领域普通技术人员在没有做出创造性劳动前提下所获得的所有其他实施例，都属于本实用新型保护的范围。The technical solutions in the embodiments of the present utility model will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present utility model. Obviously, the described embodiments are only a part of the embodiments of the present utility model, rather than all the implementations. example. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without creative work fall within the protection scope of the present invention.
本实用新型的描述中，需要说明的是，术语“竖直”、“上”、“下”、“水平”等指示的方位或者位置关系为基于附图所示的方位或者位置关系，仅是为了便于描述本实用和简化描述，而不是指示或者暗示所指的装置或者元件必须具有特定的方位，以特定的方位构造和操作，因此不能理解为对本实用新型的限制。此外，“第一”、“第二”、“第三”、“第四”仅用于描述目的，而不能理解为指示或者暗示相对重要性。In the description of the present utility model, it should be noted that the orientations or positional relationships indicated by the terms "vertical", "upper", "lower", "horizontal", etc. are based on the orientations or positional relationships shown in the accompanying drawings, only In order to facilitate the description of the present invention and simplify the description, it is not intended to indicate or imply that the referred devices or elements must have a specific orientation, be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention. Furthermore, "first", "second", "third", and "fourth" are used for descriptive purposes only and should not be construed as indicating or implying relative importance.
正如背景技术提到现有的薯类收获机械分离装置智能化水平低、设计和安装不合理、伤薯率和破皮率高、生产效率低等问题，为了解决上述问题，本实用新型采用以下方案：参考图1，一种薯类收获机作业速度智能控制系统包括信号采集模块4、车载控制器2、电磁阀驱动模块3和监控终端1，信号采集模块4包括设置在薯类收获机上各个工作部件监测点的传感器，用于采集薯类收获机的作业信息；监控终端1，用于对薯类收获机运行参数及运行状态进行显示，还具有超限预警模块和故障报警模块；车载控制器2为模糊自适应控制器，采集的信号经过信号调理电路处理后输入车载控制器2，经过模型参考模糊自适应控制算法，车载控制器2得出薯类收获机行走速度和土薯分离装置线速度的改变量，车载控制器2根据改变量输出电压信号驱动电磁阀驱动模块3调整机器行走速度和土薯分离装置线速度，进行收获作业；信号采集模块4连接车载控制器2输入端，车载控制器2输出端连接电磁阀驱动模块3和监控终端1，监控终端1连接车载控制器2输入端和输出端。As mentioned in the background art, the existing potato harvesting mechanical separation devices have low intelligence level, unreasonable design and installation, high potato injury rate and broken skin rate, and low production efficiency. In order to solve the above problems, the present utility model adopts the following Scheme: Referring to Figure 1, an intelligent control system for the operation speed of a potato harvester includes a
参考图2，车载控制器采用ATMEGA32A-AU单片机，拥有32KB闪存容量，1KB EEPROM存储器容量，32KB存储器容量，2KB RAM，拥有32个IO接口，7组模数转换器输入，3组计时器数，4通道PWM，最高16MHz时钟频率，调试接口类型：JTAG, SPI, USART等类型，可工作在2.7V to 5.5V，采用44针脚数QFP封装，可在-40°C to +85°C温度范围工作，抗干扰能力强。Referring to Figure 2, the on-board controller adopts ATMEGA32A-AU single-chip microcomputer, with 32KB flash memory capacity, 1KB EEPROM memory capacity, 32KB memory capacity, 2KB RAM, 32 IO interfaces, 7 sets of analog-to-digital converter inputs, 3 sets of timers, 4-channel PWM, up to 16MHz clock frequency, debugging interface type: JTAG, SPI, USART, etc., can work from 2.7V to 5.5V, using 44-pin QFP package, can be in the temperature range of -40°C to +85°C Work, strong anti-interference ability.
本实施例中，信号采集模块4包括安装在薯类收获机行走机构12的行走测速传感器11，安装在土薯分离装置10液压马达上的分离测速传感器9和安装在土薯分离装置机架总成14上的近红外光土薯喂入量传感器13。In this embodiment, the
参考图3行走测速传感器11输出信号为0-5V模拟电压，其通过A0-和A0+端以差分方式接入信号调理电路，经过处理后由CH0端送入MCP3208A/D转换电路，MCP3208A/D转换电路如图4所示，共可实现8路模拟信号的A/D转换，转换后的数字信号直接送入车载控制器2进行数据处理。Referring to Figure 3, the output signal of the
本实施例中，电磁阀驱动模块3包括安装在行走机构驱动部分即行走液压变量泵6上的行走装置电磁阀5和安装在土薯分离装置分离液压变量泵8上的的分离机构电磁阀7。In this embodiment, the solenoid
参考图5，行走装置电磁阀控制信号为0-10V模拟电压，其模拟电压输出电路基于LM358。车载控制器2的模拟量输出信号经过LM358后转换为0-10V模拟电压，从而为电磁阀提供控制信号，BAV99用于提高控制信号的驱动能力。Referring to Figure 5, the control signal of the solenoid valve of the traveling device is an analog voltage of 0-10V, and its analog voltage output circuit is based on LM358. The analog output signal of the
参考图7，土薯分离装置线速度线速度与薯类收获机行走机构速度配比关系如下
参考图7，土薯喂入量输送负荷梯度和堵塞边界条件如下：Referring to Fig. 7, the load gradient and blocking boundary conditions of the potato feeding amount are as follows:
式中，k1、k2、k3均是大于零的常数，且有 k1≥k2，Q r为土薯喂入量传感器得到当前在线平均喂入量，单位为kg /s，Qmax为允许的最大在线土薯喂入量，单位电流梯度为 Δi，Ir为当前作业速度所对应的电磁阀驱动模块3电流，In为下一时刻输给电磁阀驱动模块3的驱动电流，Imax为电磁阀驱动模块3允许的最大驱动电流，In the formula, k1, k2, k3 are all constants greater than zero, and k1≥k2, Qr is the current online average feeding amount obtained by the potato feeding amount sensor, the unit is kg/s, and Qmax is the maximum allowable The online potato feeding amount, the unit current gradient is Δi, Ir is the current of the solenoid
从式中可知，当土薯喂入量处于第 1、2梯度时，允许增加土薯喂入量输送负荷，通过不断增加驱动电流来实现增速;当处于第3梯度时，土薯喂入量处于最佳状态，维持当前作业速度不变;当处于第4梯度时，土薯喂入量处于极限，有可能造成堵塞，该状态为堵塞边界条件，应通过不断减少驱动电流来实现降速。It can be seen from the formula that when the potato feeding amount is in the 1st and 2nd gradient, it is allowed to increase the transportation load of the potato feeding amount, and increase the speed by continuously increasing the driving current; when it is in the third gradient, the potato feeding In the optimal state, the current operating speed remains unchanged; when it is in the fourth gradient, the feeding amount of potatoes is at the limit, which may cause blockage. This state is the boundary condition of blockage, and the speed should be reduced by continuously reducing the driving current. .
参考图6和图7，一种所述的薯类收获机作业速度智能控制系统对收获机作业速度调整的方法，包括如下步骤：6 and 7, a method for adjusting the operating speed of the harvester by the described potato harvester operating speed intelligent control system includes the following steps:
S1.当薯类收获机作业时，先设定初始薯类收获机行走速度；S1. When the potato harvester is operating, first set the initial speed of the potato harvester;
S2.通过土薯喂入量传感器计算出实际土薯喂入量，经梯度优化算法转为薯类收获机行走速度最优驱动电流，该驱动电流作为模糊 PID 调节器的输入信号 ri，ro为薯类收获机行走速度实际驱动电流；S2. Calculate the actual potato feeding amount through the potato feeding amount sensor, and convert it into the optimal driving current of the potato harvester's walking speed through the gradient optimization algorithm. The driving current is used as the input signalri , r of the fuzzy PID regulator.o is the actual driving current of the potato harvester’s walking speed;
S3.调用模糊控制子程序，再经过模糊 PID 调节器调节后的最终输出就是发送给薯类收获机作业速度所对应的实际驱动电流来调节行走速度；S3. Call the fuzzy control subroutine, and the final output after adjustment by the fuzzy PID regulator is to send the actual driving current corresponding to the operating speed of the potato harvester to adjust the walking speed;
S4. 当土薯喂入量处于最佳状态，不需要参数优化，维持当前作业速度不变;当土薯喂入量没有达到阶段上限，增加土薯喂入量输送负荷，通过不断增加驱动电流来实现增速，使行走速度改变直至该负荷阶段的最大值;当土薯喂入量达到极限，减少驱动电流来实现降速；S4. When the potato feeding amount is in the best state, parameter optimization is not required, and the current operating speed remains unchanged; when the potato feeding amount does not reach the upper limit of the stage, increase the conveying load of the potato feeding amount, and continuously increase the driving current To achieve the speed increase, the walking speed is changed until the maximum value of the load stage; when the potato feeding amount reaches the limit, reduce the driving current to realize the speed reduction;
在此步骤中，同时模糊控制器根据收获条件确定速度系数λ，发送给土薯分离装置线速度所对应的实际驱动电流。In this step, at the same time, the fuzzy controller determines the speed coefficient λ according to the harvesting conditions, and sends it to the actual driving current corresponding to the linear speed of the potato separation device.
最后应说明的是：以上所述仅为本实用新型的优选实施例而已，并不用于限制本实用新型，尽管参照前述实施例对本实用新型进行了详细的说明，对于本领域的技术人员来说，其依然可以对前述各实施例所记载的技术方案进行修改，或者对其中部分技术特征进行等同替换。凡在本实用新型的精神和原则之内，所作的任何修改、等同替换、改进等，均应包含在本实用新型的保护范围之内。Finally, it should be noted that the above are only the preferred embodiments of the present invention, and are not intended to limit the present invention. , it is still possible to modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements to some of the technical features. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.
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| CN117270535B (en)* | 2023-09-25 | 2024-03-12 | 青岛农业大学 | Auxiliary navigation system suitable for crawler-type potato harvester and control method |
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