CN102929146B - Device and method for realizing model reference adaptive control on operation speed of combine harvester - Google Patents
Device and method for realizing model reference adaptive control on operation speed of combine harvester Download PDFInfo
- Publication number
- CN102929146B CN102929146B CN201210409526.6A CN201210409526A CN102929146B CN 102929146 B CN102929146 B CN 102929146B CN 201210409526 A CN201210409526 A CN 201210409526A CN 102929146 B CN102929146 B CN 102929146B
- Authority
- CN
- China
- Prior art keywords
- model
- control
- united reaper
- speed
- controller
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Landscapes
- Feedback Control In General (AREA)
- Combines (AREA)
Abstract
The invention discloses a device and a method for realizing model reference adaptive control on operation speed of a combine harvester and mainly relates to the field of agricultural machinery. The device is characterized by consisting of a controller, a touch screen, a sensor system, a manual/automatic selector switch and an execution system. The sensor system is used for acquiring signals of a threshing cylinder, a header auger, and a conveying trough, an input amount signal and a loss amount signal and the like of the combine harvester; the manual/automatic selector switch is used for switching between a manual state and an automatic state; the execution system consists of an amplifier, a speed control valve and an electronic control handle; and during work, the controller receives the signals acquired by the sensor system, and the operation speed of the combine harvester is adaptively controlled by a model reference adaptive control algorithm. In the control process, the running state of the combine harvest is displayed by the touch screen, and if the combine harvest is failed, an audible and visual alarm system on the touch screen can perform audible and visual alarm.
Description
Technical field
The present invention relates to agricultural mechanical field, particularly a kind of combine operation rate pattern Model Reference Adaptive Control device.
Background technology
Along with the fast development of mechanization of agriculture, the application of united reaper in agricultural production is also more and more extensive, the great economic development promoting rural area, united reaper is as main harvest machinery, along with the raising of farmers' income, to its handle comfortableness and intelligent requirements more and more higher, united reaper towards intelligent direction development be inexorable trend.The operating speed of united reaper is determined by factors such as cropping intensity, humidity, field soil situation, swaths, and different field conditions correspond to different best operating speeds.Traditional operating type mainly relies on the personal experience of driver, and require high to the operant level of driver, labour intensity is large, and is difficult to search out suitable equilibrium point between high operating efficiency and less trouble.Therefore, the meaning of research combine operation Auto speed-control system is just the labour intensity that can alleviate driver, and can obtain the job state of harvester more accurately, under trouble-free state, obtain higher operating efficiency.
Summary of the invention
Technical matters to be solved by this invention: the technical disadvantages overcoming the said equipment, provides a kind of combine operation rate pattern Model Reference Adaptive Control device based on many monitoring points state parameter.This device can show in real time to the state of each setting of united reaper, the independent setting control model parameter of energy, and carry out storage and the reproduction that can carry out data in the Automatic adjusument of operating speed and acceleration, the adaptive optimization of controling parameters, process of the test, this device can make united reaper under the prerequisite of non-fault, low loss, obtain best operating speed, keep reasonable, uniform feed quantity.
The technical solution adopted for the present invention to solve the technical problems is: combine operation rate pattern Model Reference Adaptive Control device is made up of hardware system and software systems.Hardware system is made up of controller, touch-screen, sensing system, manual/automatic selector switch, executive system.Manual/automatic selector switch is used for the switching of united reaper manual mode and auto state; Controller is made up of programmable controller PLC and peripheral circuit thereof; Touch-screen can show the running status of united reaper, when united reaper breaks down, can carry out sound and light alarm by the acoustooptic alarm system on touch-screen; Executive system is made up of amplifier, speed control valve and electric control handle; Sensing system is by measuring the sensors such as operating speed, threshing cylinder rotating speed, defeated grain screw feeder rotating speed, delivery chute rotating speed, feed quantity, loss amount and modulate circuit forms.By sensing system, each running parameter of united reaper is monitored, the automatic adjustment of combine operation speed is realized by controller and amplifier governing speed operation valve, simultaneously by the running status of touch-screen display united reaper, software systems are mainly made up of signal detection module, recursive model reference adaptive algorithm module and operating speed control module etc.
Technical solution of the present invention comprises the steps:
A. do not press manual/automatic selector switch, united reaper is in manual work state; Press manual/automatic selector switch, be connected by amplifier with speed control valve, united reaper is in automatic control state.
B. sensing system gathers each road signal of united reaper, after relevant modulate circuit process, be input to Modling model Model Reference Adaptive Control model in controller.
C. controller is according to the model reference self-adapting control model set up, according to the duty that united reaper is different, select different control strategies to control amplifier, the aperture of amplifier control rate operation valve, thus realize the adaptive control to combine operation speed.
The invention has the beneficial effects as follows, on the basis of united reaper existing hydraulic pressure buncher manual governing mechanism, addition of operating speed model reference self-adapting control device, gather united reaper working state signal input programmable controller PLC by sensing system and carry out recursive model reference adaptive algorithm resume module, select corresponding control strategy, driving executive system works, thus realize the control of combine operation speed adaptive, show the duty of united reaper simultaneously in real time, when running into fault, carry out sound and light alarm in time.
Accompanying drawing explanation
Below in conjunction with drawings and Examples, the present invention is further described.
Fig. 1 is combine operation rate pattern Model Reference Adaptive Control device principle of work block diagram.
Fig. 2 is combine operation rate pattern Model Reference Adaptive Control device hardware circuit diagram.
Fig. 3 is combine operation rate pattern Model Reference Adaptive Control device control module schematic diagram.
Fig. 4 is combine operation rate pattern Model Reference Adaptive Control method flow diagram.
Fig. 5 is model reference control subroutine flow chart.
Fig. 6 is that combine operation rate pattern Model Reference Adaptive Control mounted cast is with reference to rule list.
Embodiment
As depicted in figs. 1 and 2, the hardware system of combine operation rate pattern Model Reference Adaptive Control device is made up of controller 2, touch-screen 1, sensing system 3, manual/automatic selector switch 6, executive system, and wherein executive system comprises electric control handle 5, speed control valve 7 and amplifier 4.
Described sensing system 3 is made up of the sensor of each monitoring point be installed on united reaper 8, comprise the Hall revolution speed transducer be installed in threshing cylinder, defeated grain screw feeder and feeder wheel rotating shaft, be installed on the feed quantity sensor in cutting table auger rotating shaft and the loss amount sensor being installed on united reaper 8 sieve afterbody.The input end of the output termination controller 2 of sensing system 3.
Described touch-screen 1 is connected with controller 2 output terminal, for showing the running status of united reaper 8, when united reaper 8 breaks down, can carry out sound and light alarm by the acoustooptic alarm system on touch-screen.
Described controller 2 is made up of Programmable Logic Controller and modulate circuit thereof, and the input end of controller 2 is connected with the output terminal of sensing system 3, and output terminal is connected with touch-screen 1, the input end of the output termination amplifier 4 of controller 2.The free end of the output terminal access manual/automatic selector switch 6 of amplifier 4, the common port of manual/automatic selector switch 6 is connected with the speed control valve 7 of united reaper 8, another free termination electric control handle 5 of manual/automatic selector switch 6, manually/automatic transfer switch 6 realizes the switching of united reaper 8 hand control and automation state.Non-follow control, by electric control handle 5 directly control rate operation valve 7, controls by controller 2 output voltage driving amplifier 4 control rate operation valve 7 automatically.Speed control valve 7 is ratio two-way valve, according to circulating direction and the uninterrupted of sense of current and size operation valve.During Non-follow control, speed control valve 7 is communicated with electric control handle 5 by manual/automatic selector switch 6.Electric control handle 5 is that electric ratio exports, Non voltage output when handle is placed in meta, exports forward voltage, when handle post-tensioning exports reverse voltage in proportion, by the output voltage control speed control valve 7 of handle when pushing ratio before handle.During automatic control, speeds control coil two ends are communicated with amplifier 4 by manual/automatic selector switch 6.Now handle lost efficacy, and the operating speed of united reaper 8 is controlled by controller 2 completely.The function of amplifier 4 be the voltage linear that controller 2 is exported be converted into electric current actuating speed operation valve 7, must demarcate it before use.By MIN knob regulation output electric current, when making controller 2 pairs of amplifiers 4 input minimum amount of voltage that, amplifier 4 output current is 0; By MAX knob regulation output electric current, when making controller 2 pairs of amplifiers 4 input maximum voltage value, amplifier 4 output current just in time can make the operating speed of united reaper 8 maximum.After amplifier 4 has adjusted, the magnitude of voltage that only need change input end VI can control the operating speed of united reaper 8.
As shown in Figure 3, model reference self-adapting control forms primarily of four parts for combine operation rate pattern Model Reference Adaptive Control principle and flow process: controlled device, reference model, adaptive controller and adaptive law.Wherein, r is the input of system, and u is the control signal that fuzzy controller exports, and y is the actual output of controlled device, y
mfor the reference value exported, e is the deviation of actual output and reference value,
for parameter adjustment.
United reaper adaptive control as shown in Figure 4,5, first control system calls adaptive control program, according to adaptive control program, adaptive speed adjustment is carried out to united reaper, then Monitoring Data is gathered by touch-screen, judge whether the pace of united reaper meets reference model by the reference flowchart shown in Fig. 5, if pace meets reference model, carry out the optimization of data, if do not meet reference model, re-start the judgement of data.
United reaper self-adaptation control method of the present invention, its concrete steps are:
Module parameter in step 1, setting controller 2.If N
1, N
2, N
3, N
4, N
5be respectively the speed reference under cutting table auger, threshing cylinder, defeated grain screw feeder, pace, delivery chute normal operation condition, n
1, n
2, n
3, n
4, n
5be respectively the actual speed measured value of cutting table auger, threshing cylinder, defeated grain screw feeder, pace, delivery chute, M
1, M
2be respectively the higher limit of feed quantity and loss amount, m
1, m
2be respectively the actual measured value of feed quantity and loss amount.Different with the results situation of wheat according to paddy rice, set the initial reference model under normal operating conditions respectively.
Step 2, controller 2 gather the information of feed quantity, travel speed, threshing cylinder rotating speed, defeated grain screw feeder rotating speed, loss amount by sensor-based system.Information is processed, obtains the state value of each monitoring point, show each monitoring point state by touch-screen.
Step 3, controller 2 carry out processing and merge to the state value of each monitoring point by model reference self-adapting control module.As shown in Figure 3, each monitoring point state value is first merged by self-adaptive control module after reference model process.The design process of adaptive controller is as follows.
Suppose that the state equation of controlled device is
(
) （1）
Hypothetical reference model is linear system, and is determined by formula (4.2):
（2）
Suppose that again all eigenwerts of A have negative real part, then this model reference system has an asymptotically stable equilibrium state.Make error vector
efor:
By a suitable control vector
u, make error vector be reduced to zero.Can be obtained by formula (1) and (2)
（3）
Design a controller, make when stable state,
with
Or
Therefore, the emphasis of model reference self-adapting control designs an adaptive controller, the control variable exported by adaptive controller exactly
u, make the deviation between the output of controlled device and reference model
ebe zero.
Corresponding reference model selected by step 4, controller 3.FEEDBACK CONTROL in adaptive system is the error of state according to each monitoring point of reality and set optimal parameter, draw corresponding reference model through adaptive controller, make the state of each monitoring point level off to set model by ADAPTIVE CONTROL.Set three kinds of reference models in the adaptive controller of native system altogether, called after is normal, exception, fault respectively.The reference model of normal operating conditions is the setting value in step 1, wherein the speed reference of cutting table auger, threshing cylinder, defeated grain screw feeder, delivery chute can be modified according to the difference of harvesting environment, and feed quantity and loss amount are the performance index that united reaper is fixed; In abnormal operation reference model, operating speed is 50% under normal operating conditions; In malfunction reference model, operating speed is 0.Model reference rule as shown in Figure 6, the upper limit of 5 road tachometer values is respectively united reaper maximum throttle and tachometer value under light condition, the priority that reference model is chosen is: fault > is abnormal, and > is normal, namely have during fault and enter failure state model, non-fault has during exception and enters abnormality model, just enters normal condition model when non-fault is without exception.
Step 5, judge whether to carry out Non-follow control, if enter Non-follow control, then the adaptive control of united reaper pace terminates, and touch-screen still shows its duty.If do not enter Non-follow control, then return step 2, proceed adaptive control.
Claims (1)
1. a control method for combine operation rate pattern Model Reference Adaptive Control device, is characterized in that, comprise the steps:
A. do not press manual/automatic selector switch (6), united reaper (8) is in manual work state; Press manual/automatic selector switch (6), be connected by amplifier (4) with speed control valve (7), united reaper (8) is in automatic control state;
B. sensing system (3) gathers each road signal of united reaper (8), after relevant modulate circuit process, be input to Modling model Model Reference Adaptive Control model in controller (2);
C. controller (2) is according to the model reference self-adapting control model set up, according to the duty of united reaper (8), control strategy is selected to control amplifier (4), the aperture of amplifier (4) control rate operation valve (7), thus realize the adaptive control to united reaper (8) operating speed; The step of Modling model Model Reference Adaptive Control model is: first utilize the empirical data under Non-follow control to set up reference model, setting value in each road signal collect sensing system (3) and reference model compares, when there is deviation in the parameter in the actual parameter and reference model of united reaper (8), adjust according to adaptive law, thus adjust the operating speed of united reaper (8) in time; Three kinds of reference models are set altogether, respectively called after normal, exception, fault in controller (2); The reference model of normal operating conditions is set respectively according to paddy rice is different with the results situation of wheat: establish N
1, N
2, N
3, N
4, N
5be respectively the speed reference under cutting table auger, threshing cylinder, defeated grain screw feeder, pace, delivery chute normal operation condition, n
1, n
2, n
3, n
4, n
5be respectively the actual speed measured value of cutting table auger, threshing cylinder, defeated grain screw feeder, pace, delivery chute, M
1, M
2be respectively the higher limit of feed quantity and loss amount, m
1, m
2be respectively the actual measured value of feed quantity and loss amount; Wherein the speed reference of cutting table auger, threshing cylinder, defeated grain screw feeder, delivery chute can be modified according to the difference of harvesting environment, and feed quantity and loss amount are the performance index that united reaper is fixed; In abnormal operation reference model, operating speed is 50% under normal operating conditions; In malfunction reference model, operating speed is 0; Model reference rule is:
；
N
1, n
2, n
3, n
4, n
5the upper limit of tachometer value be respectively united reaper maximum throttle and tachometer value under light condition, the priority that reference model is chosen is: fault > is abnormal, and > is normal, namely have during fault and enter failure state model, non-fault has during exception and enters abnormality model, just enters normal condition model when non-fault is without exception.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210409526.6A CN102929146B (en) | 2012-10-24 | 2012-10-24 | Device and method for realizing model reference adaptive control on operation speed of combine harvester |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201210409526.6A CN102929146B (en) | 2012-10-24 | 2012-10-24 | Device and method for realizing model reference adaptive control on operation speed of combine harvester |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102929146A CN102929146A (en) | 2013-02-13 |
| CN102929146B true CN102929146B (en) | 2015-06-10 |
Family
ID=47643975
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201210409526.6A Active CN102929146B (en) | 2012-10-24 | 2012-10-24 | Device and method for realizing model reference adaptive control on operation speed of combine harvester |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102929146B (en) |
Families Citing this family (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9706709B2 (en) * | 2015-09-10 | 2017-07-18 | Deere & Company | Harvester fan speed control based on yield |
| CN110050570B (en) * | 2018-05-22 | 2020-09-11 | 农业部南京农业机械化研究所 | Control mechanism and method for stably switching forward speed of combine harvester |
| CN108934416A (en) * | 2018-07-06 | 2018-12-07 | 巢湖学院 | One kind being based on BP neural network combined harvester multi-parameter operation-control system and method |
| CN109085750B (en) * | 2018-08-17 | 2021-07-16 | 江苏农牧科技职业学院 | Load feedback control system and method for combine harvester threshing and separating device |
| CN109548465B (en) * | 2019-01-11 | 2021-06-29 | 潍柴雷沃重工股份有限公司 | Automatic control method and system for stepless speed change of roller and harvester |
| CN115016251A (en) * | 2022-06-15 | 2022-09-06 | 中国热带农业科学院农业机械研究所 | Electric control type vegetable harvester control system and control method |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61279904A (en) * | 1985-06-05 | 1986-12-10 | Mitsubishi Heavy Ind Ltd | Protecting circuit for adaptive control time |
| EP1680952A1 (en) * | 2005-01-12 | 2006-07-19 | Deere & Company | Speed control for a self propelled working machine |
| WO2008126013A2 (en) * | 2007-04-11 | 2008-10-23 | Consejo Nacional De Investigaciones Científicas Y Técnicas (Conicet) | Method to decrease separation losses at the harvest of grains and advance speed regulating device of a harvester to decrease separation losses |
| CN102150504A (en) * | 2011-04-01 | 2011-08-17 | 江苏大学 | Method and device for intelligently controlling forward speed of tangential/longitudinal flow combine harvester |
| CN102680269A (en) * | 2012-06-01 | 2012-09-19 | 江苏大学 | Intelligent control test device and control method of combined harvester |
-
2012
- 2012-10-24 CN CN201210409526.6A patent/CN102929146B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS61279904A (en) * | 1985-06-05 | 1986-12-10 | Mitsubishi Heavy Ind Ltd | Protecting circuit for adaptive control time |
| EP1680952A1 (en) * | 2005-01-12 | 2006-07-19 | Deere & Company | Speed control for a self propelled working machine |
| WO2008126013A2 (en) * | 2007-04-11 | 2008-10-23 | Consejo Nacional De Investigaciones Científicas Y Técnicas (Conicet) | Method to decrease separation losses at the harvest of grains and advance speed regulating device of a harvester to decrease separation losses |
| CN102150504A (en) * | 2011-04-01 | 2011-08-17 | 江苏大学 | Method and device for intelligently controlling forward speed of tangential/longitudinal flow combine harvester |
| CN102680269A (en) * | 2012-06-01 | 2012-09-19 | 江苏大学 | Intelligent control test device and control method of combined harvester |
Non-Patent Citations (2)
| Title |
|---|
| 联合收割机喂入量自适应控制液压系统;介战等;<<中国农机化>>;20020228(第1期);38-39 * |
| 联合收获机智能控制试验台设计与试验;陈进等;<<农业机械学报>>;20111130;第42卷;78-81 * |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102929146A (en) | 2013-02-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102929146B (en) | Device and method for realizing model reference adaptive control on operation speed of combine harvester | |
| CN202035290U (en) | Intelligent advance speed control device for tangential-axial combine harvester | |
| RU2350999C2 (en) | Method of optimising controlled machine parameters | |
| US7630809B2 (en) | Method for controlling a harvesting machine | |
| CN109526381B (en) | Low-loss threshing control system and method for corn harvester | |
| CN102150504A (en) | Method and device for intelligently controlling forward speed of tangential/longitudinal flow combine harvester | |
| CN102077730A (en) | Operating speed control system and method for combine harvester | |
| CN101653069B (en) | Load feedback automatic control device for combined harvester and control method | |
| CN102090205A (en) | Multi-parameter control system for threshing performance of combined harvester | |
| CN111670680A (en) | High-moisture-content corn harvesting roller rotating speed control system and control method | |
| CN108934416A (en) | One kind being based on BP neural network combined harvester multi-parameter operation-control system and method | |
| US20160366821A1 (en) | Crop mat measurement through stereo imaging | |
| CN109548472A (en) | CAN bus based harvest corn harvesting damage control system and control method | |
| US11612102B2 (en) | Drive system for a harvester | |
| CN104982149A (en) | Intelligent control device and control method of guide plate of combined harvester | |
| CN111670681A (en) | Corn harvesting feeding amount self-adaptive control system and control method | |
| CN113796198A (en) | Cleaning fuzzy reasoning device of rice and wheat combine harvester and automatic control method | |
| CN107046927B (en) | Hydraulic transmission system for independent header of combine harvester and application method of hydraulic transmission system | |
| CN110741802B (en) | Adaptive control device and method for cutting frequency of cutter and harvester | |
| CN104679041A (en) | Operation-load control system and method for reaping machines | |
| CN110476583A (en) | Picker for tuber crops operating speed adaptive control system and method | |
| CN214430215U (en) | Harvesting machine | |
| CN212413871U (en) | High-moisture-content corn harvesting roller rotating speed control system | |
| CN109085750A (en) | A kind of combine harvester takes off separating device feedback loading control system and method | |
| CN103270842A (en) | Intelligent control system of harvester |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| EE01 | Entry into force of recordation of patent licensing contract | ||
| EE01 | Entry into force of recordation of patent licensing contract |
Application publication date: 20130213 Assignee: Shandong Jin Dafeng Machinery Co., Ltd. Assignor: Jiangsu University Contract record no.: 2019320000221 Denomination of invention: Device and method for realizing model reference adaptive control on operation speed of combine harvester Granted publication date: 20150610 License type: Exclusive License Record date: 20190705 |