CN102680269B - Intelligent control test device and control method of combined harvester - Google Patents
Intelligent control test device and control method of combined harvester Download PDFInfo
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- CN102680269B CN102680269B CN201210177062.0A CN201210177062A CN102680269B CN 102680269 B CN102680269 B CN 102680269B CN 201210177062 A CN201210177062 A CN 201210177062A CN 102680269 B CN102680269 B CN 102680269B
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Abstract
The invention discloses an intelligent control test device and a control method of a combined harvester and mainly relates to the field of agricultural machinery. The intelligent control test device is characterized by being composed of a test trolley, an intelligent control module, an audible and visual alarm, an upper computer, a motor module and a simulation module. The intelligent control module acquires signals of the motor module and the simulation module so as to perform intelligent control on the test trolley, and simultaneously the upper computer can be used for displaying and processing data. If faults occur in the operating process, the intelligent control test device can perform audible and visual alarm in time. The intelligent control test device and the control method enable the combined harvester to be tested under laboratory environment without influence of seasons, weather and other factors and lay a foundation for intelligent control of the combined harvester.
Description
Technical field
The present invention relates to agricultural mechanical field, particularly a kind of combined harvester intelligent control test device.
Background technology
Along with the fast development of mechanization of agriculture, the application of combined harvester in agricultural production is also more and more extensive, has promoted the economic development in rural area greatly, and the degree of its robotization has become the important criterion of of agricultural modernization.The detection experiment of existing test unit is all carry out with true material in field or on the test-bed in laboratory, its workload is large, at substantial manpower and materials, and its test period is longer, impact by season is larger, brings great inconvenience to production and scientific research." design of combined harvester Intelligent Control Simulation device " [agricultural research 2011(5): 49-51] disclose combined harvester Intelligent Control Simulation device, it carries out analog simulation mainly through MATLAB software, can not simulate field conditions; Chinese patent ZL201120093805.7 discloses one and cuts vertical stream combined harvester pace intelligent controlling device, the pace of Combine Harvester can carry out intelligentized control method, but it other parts of Combine Harvester can not carry out intelligentized control method.
Summary of the invention
Technical matters to be solved by this invention: the technical disadvantages overcoming the said equipment, one is provided to simulate field conditions, Combine Harvester carries out the test unit of intelligentized control method, test unit can carry out Control experiment at laboratory environment for different model combined harvester, shorten the R&D cycle of intelligent combined harvester, for the Based Intelligent Control realizing combined harvester lays the first stone.
The technical solution adopted for the present invention to solve the technical problems is:
Combined harvester intelligent control test device is primarily of test chassis, intelligent control module, audible-visual annunciator, host computer, motor module, analog simulation module composition.
Described test chassis by running gear, power system, speed control system and test platform four part form; Running gear provides the walking motion of chassis; Power system provides walking power, mainly comprises power supply, drive motor and power train, and wherein power supply is arranged on test platform, and drive motor is connected by shaft coupling with power train; Speed control system comprises operating grip, pull bar, driving fork, connecting rod, driving mechanism; Pull bar one end and operating grip link together; Fork two ends are driven to have circular hole, one end is connected with pull bar one end, and the other end is connected with connecting rod one end, drives the interstitial hole of fork to be connected with step motor shaft, different connecting holes can be selected when pull bar, connecting rod connect from driving fork, the moment of torsion of different size can be transmitted; The connecting rod other end is connected with the driving mechanism of test chassis.
Described intelligent control module is made up of controller and sensing system, sensing system is arranged on test chassis, the signal collected is sent in controller through relevant modulate circuit, and controller is made up of Programmable Logic Controller and peripheral circuit thereof, and controller is arranged on test platform; Sensing system is made up of sensor, magnet steel, and magnet steel is posted on the wheel hub of test chassis, and before sensor is arranged on magnet steel, sensor must just to magnet steel, and the distance between sensor and magnet steel is at 2-5mm.
Described audible-visual annunciator is arranged on test platform, comprise hummer and pilot lamp, hummer and pilot lamp are all mounted on test chassis, and hummer is connected with controller by interlock circuit with pilot lamp, if break down in process of the test, pilot lamp flicker while that hummer being blown a whistle.
Described host computer is arranged on test platform, comprise PC and touch-screen, PC comprises main frame and display, wherein display is connected with main frame by connecting line with touch-screen, touch-screen is connected with controller through interlock circuit, main frame is derived from the information of controller for receiving, display to be gone forward side by side line correlation process for showing correlation parameter; Touch-screen also can carry out the display of status information, and touch-screen can arrange initial parameter simultaneously, is convenient to observation experiment result intuitively.
Described motor module comprises DC brushless motor, stepper motor, wherein DC brushless motor is connected with sensing system through relevant modulate circuit with stepper motor, DC brushless motor is arranged on test platform, for simulating combining machine cylinder, delivery chute, cutting table auger rotating speed, stepper motor is arranged on testing table vehicle speed control operation handle, for the pace of Control experiment platform.
Described analog simulation module is arranged on test platform, analog simulation module is made up of one-chip computer module and modulate circuit thereof, being connected with controller by relevant modulate circuit, for simulating loss amount, feed quantity, during system cloud gray model, feed quantity and loss amount data can being sent to controller.
The technical scheme that the inventive method adopts in turn includes the following steps:
A: test chassis is run to test site, determines the test specifically will carried out, selects suitable algorithm routine.
B: starting characteristics test chassis, according to testing, carries out the setting of initiation parameter on the touchscreen.
C: start DC brushless motor, allows motor run under the rotary speed parameter of setting, starts analog simulation module simultaneously, allows it send feed quantity and loss amount data.
D: deliver in controller by real-time for operational factor, controller controls stepper motor according to algorithm routine, thus realize the control to test chassis pace.
E: in operational process, sensor is sent to pace signal in host computer in real time, and motor driver also can be sent to host computer the service data of motor simultaneously, and controller controls test chassis according to these information fed back.
Data are passed to the process that main frame machine carries out data by f: utilize the test parameters in touch-screen acquisition test process simultaneously.
G: close test chassis power supply, disable motor, shutdown signal gathers switch, off-test.
The invention has the beneficial effects as follows:
1. the present invention is to test chassis for carrier, and test chassis can simulate combined harvester, takes up room little, can realize the various tests of Combine Harvester in laboratory environments, avoids the impact of combined harvester test by season.
2. the present invention adopts motor module, and motor module can simulate the rotating speeds such as combining machine cylinder, delivery chute, cutting table auger, is convenient to the collection carrying out combined harvester tach signal; The control to test chassis pace can be carried out simultaneously.
3. the present invention adopts analog simulation module, and analog simulation module can simulate loss and the feeding process of cereal in combined harvester harvesting process, is convenient to observe feed quantity and loss amount.
4. the present invention adopts stepper motor as the driving mechanism of test chassis, can realize the accurate control to test unit pace.
5. the present invention is on the basis of test chassis, has installed controller, by sensing system acquisition test device each several part working state signal, has entered controller, achieve the intelligentized control method to test unit by corresponding modulate circuit.
Accompanying drawing explanation
The structural representation of Fig. 1 combined harvester intelligent control test device.
Fig. 2 combined harvester intelligent control test device speed control system structural drawing.
Fig. 3 combined harvester intelligent control test device fundamental diagram.
As shown in the figure, number in the figure represents respectively: 1--sensing system, and 2--tests chassis, 3--operating grip, 4--touch-screen, 5--DC brushless motor, 6--analog simulation module, 7--controller, 8--pilot lamp, 9--hummer, 10--display, 11--main frame, 12--power supply, 13--test platform, 14--pull bar, 15--drives fork, 16--driving mechanism, 17--connecting rod, 18--stepper motor.
Embodiment
As shown in Figure 1, combined harvester intelligent control test device of the present invention, comprises test chassis 2, intelligent control module (forming by 1,7), audible-visual annunciator (forming by 8,9), host computer (forming by 10,11), motor module 5, analog simulation module 6 forms.
As shown in Figure 1, chassis 2 is tested for providing the mounting platform of combined harvester intelligent control test device and performing the walking motion of test unit.The speed of travel of controller 7 Control experiment chassis.
As shown in Figure 1, intelligent control module be arranged on test chassis on, comprise controller 7 and sensing system 1, sensing system 1 for gathering tach signal, controller 7 for Control experiment chassis the speed of travel, carry out data processing.
As shown in Figure 1, audible-visual annunciator is arranged on test chassis, comprises hummer 9 and pilot lamp 8, and during work, whether audible-visual annunciator can break down according to test and carry out warning warning.
As shown in Figure 1, 2, motor module is arranged on test chassis, and comprise DC brushless motor 5 and stepper motor 18, DC brushless motor 5 is for simulating combining machine cylinder, delivery chute, cutting table auger rotating speed; Stepper motor 18 is arranged in speed control system, for the pace of Control experiment platform.Speed control system comprises operating grip 3, pull bar 14, drives fork 15, connecting rod 17, driving mechanism 16, stepper motor 18; Pull bar 14 one end and operating grip 3 link together; Fork 15 two ends are driven to have circular hole, one end is connected with pull bar 14 one end, and the other end is connected with connecting rod 17 one end, drives the interstitial hole of fork 15 to be connected with stepper motor 18 axle, different connecting holes can be selected when pull bar, connecting rod connect from driving fork, the moment of torsion of different size can be transmitted; The connecting rod other end is connected with the driving mechanism 16 of test chassis.
As shown in Figure 1, analog simulation module 6 is arranged on test chassis, comprising one-chip computer module and modulate circuit thereof, for simulating loss amount, feed quantity, can send feed quantity and loss amount data during system cloud gray model to controller.
As shown in Figure 1, host computer is arranged on test chassis, and comprise PC and touch-screen 4, PC comprises main frame 10 and display 11, and during operation, main frame is derived from the information of controller for receiving, and display to be gone forward side by side line correlation process for showing correlation parameter; Touch-screen 4 also can carry out the display of status information, and touch-screen 4 can arrange initial parameter simultaneously, is convenient to observation experiment result intuitively.
Introduce combined harvester intelligent control test device specific works flow process below.
During test, test unit is run on test site, opening power 12, after testing table opening initialization, by touch-screen 4, initiation parameter is set, startup DC brushless motor 5 and analog simulation module 6 work, DC brushless motor 5 simulates the cylinder of combined harvester, cutting table auger, the rotation of delivery chute, analog simulation module 6 simulates the process of combined harvester feeding and loss, the feed quantity that the turn signal collected by sensing system 1 during work and analog simulation module 6 produce and loss amount signal are sent in controller 7 by relevant modulate circuit, and the display of data is carried out by display 10 and touch-screen 4, judge whether current data is normal by controller 7 simultaneously, if the data collected normally, carry out required Control experiment, if abnormal, audible-visual annunciator work, carry out sound and light alarm.What process of the test controller 7 was real-time stores the data in main frame 11, can be processed by main frame 11 to the test figure collected simultaneously.
Claims (1)
1. a combined harvester intelligent control test device, is characterized in that, comprises test chassis (2), intelligent control module, audible-visual annunciator, host computer, motor module, analog simulation module (6); Described test chassis (2) by running gear, power system, speed control system and test platform four part form; Described power system comprises power supply (12), drive motor and power train, and wherein power supply (12) is arranged on test platform, and drive motor is connected by shaft coupling with power train; Speed control system comprises operating grip (3), pull bar (14), drives fork (15), connecting rod (17), driving mechanism (16); Pull bar (14) one end and operating grip (3) link together; Fork (15) two ends are driven to have circular hole, one end of fork (15) is driven to be connected by the other end of circular hole with pull bar (14), drive the other end of fork (15) to be connected with connecting rod (17) one end by circular hole, drive the interstitial hole of fork (15) to be connected with stepper motor (18) axle; The other end of connecting rod (17) is connected with the driving mechanism (16) of test chassis (2); Described intelligent control module is arranged in test chassis (2), comprise controller (7) and sensing system (1), sensing system (1) is arranged in test chassis (2), by the pace of sensing system (1) acquisition test chassis (2) and the rotating speed of DC brushless motor (5), the tach signal collected is delivered in controller (7) through modulate circuit; Described audible-visual annunciator is arranged in test chassis (2), comprise hummer (9) and pilot lamp (8), hummer (9) and pilot lamp (8) are all mounted in test chassis (2), and hummer (9) is connected with controller (7) by circuit with pilot lamp (8); Described host computer is arranged in test chassis (2), comprise display (10), main frame (11) and touch-screen (4), described display (10) is connected with main frame (11) by connecting line with touch-screen (4), and touch-screen (4) is connected with controller (7) through oversampling circuit; Motor module is arranged in test chassis (2), and comprise DC brushless motor (5) and stepper motor (18), described DC brushless motor (5) is connected with sensing system (1) through modulate circuit with stepper motor (18); Described analog simulation module (6) is arranged on test chassis, analog simulation module (6) is connected with controller (7) by modulate circuit, and analog simulation signal analog simulation module (6) exported is delivered in controller (7) through modulate circuit; Controller (7) controls stepper motor (18) according to the tach signal collected and analog simulation signal, also controls the rotating speed of DC brushless motor (5) with Time Controller; Described driving fork (15) is provided with more than three connecting holes, selects different connecting holes, transmit the moment of torsion of different size when pull bar (14), connecting rod (17) connect from driving fork (15); Driven by stepper motor (18) and drive fork (15), pull bar (14) is driven by driving the rotation of fork (15), pull bar (14) drives the motion of operating grip (3), thus the control of Control experiment chassis (2) pace.
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| CN201210177062.0A CN102680269B (en) | 2012-06-01 | 2012-06-01 | Intelligent control test device and control method of combined harvester |
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Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102929146B (en) * | 2012-10-24 | 2015-06-10 | 江苏大学 | Device and method for realizing model reference adaptive control on operation speed of combine harvester |
| CN104604414A (en) * | 2015-02-16 | 2015-05-13 | 宁夏天锦机械装备制造有限公司 | Intelligent digging machine for Chinese herbal medicines |
| CN105699104B (en) * | 2016-01-16 | 2018-07-24 | 湖北霍洛曼航空设备工程有限公司 | High-speed flexible sled test device |
| CN108718671B (en) * | 2018-06-13 | 2019-12-13 | 华中农业大学 | Multifunctional test bench for testing standing grain pulling chain type sunflower header |
| CN109668751B (en) * | 2019-01-21 | 2024-04-05 | 福建省农业机械化研究所(福建省机械科学研究院） | Multifunctional combined test stand |
| CN110865631B (en) * | 2019-11-28 | 2021-05-14 | 中国农业大学 | CAN bus-based intelligent control test platform for multifunctional corn harvester |
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Application publication date: 20120919 Assignee: JIANGSU SHANGQI AGRICULTURAL EQUIPMENT CO., LTD. Assignor: Jiangsu University Contract record no.: 2015320000102 Denomination of invention: Intelligent control test device and control method of combined harvester License type: Common License Record date: 20150324 |
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Assignee: JIANGSU SHANGQI AGRICULTURAL EQUIPMENT CO., LTD. Assignor: Jiangsu University Contract record no.: 2015320000102 Date of cancellation: 20150421 |
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Application publication date: 20120919 Assignee: JIANGSU SHANGQI AGRICULTURAL EQUIPMENT CO., LTD. Assignor: Jiangsu University Contract record no.: 2015320000268 Denomination of invention: Intelligent control test device and control method of combined harvester License type: Exclusive License Record date: 20150422 |
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