CN107182313A - Self-excited vibration subsoiler and tilling depth investigating method - Google Patents
Self-excited vibration subsoiler and tilling depth investigating method Download PDFInfo
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- CN107182313A CN107182313A CN201710548495.5A CN201710548495A CN107182313A CN 107182313 A CN107182313 A CN 107182313A CN 201710548495 A CN201710548495 A CN 201710548495A CN 107182313 A CN107182313 A CN 107182313A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01B—SOIL WORKING IN AGRICULTURE OR FORESTRY; PARTS, DETAILS, OR ACCESSORIES OF AGRICULTURAL MACHINES OR IMPLEMENTS, IN GENERAL
- A01B49/00—Combined machines
- A01B49/02—Combined machines with two or more soil-working tools of different kind
- A01B49/022—Combined machines with two or more soil-working tools of different kind at least one tool being actively driven
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
- G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
- G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
- G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P60/00—Technologies relating to agriculture, livestock or agroalimentary industries
- Y02P60/20—Reduction of greenhouse gas [GHG] emissions in agriculture, e.g. CO2
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- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Lifting Devices For Agricultural Implements (AREA)
- Soil Working Implements (AREA)
Abstract
The invention discloses a kind of self-excited vibration subsoiler and its tilling depth investigating method, wherein the self-excited vibration subsoiler includes frame, detection means, hydraulic means, multiple self-excited vibration subsoiling monomers, wherein：Detection means is arranged in frame, and multiple self-excited vibration subsoiling monomers and hydraulic means are arranged in frame；Self-excited vibration subsoiling monomer is used to loosen the soil, hydraulic means is as exciting source, and by making subsoiling monomer produce vibration with soil collective effect, detection means is used for the embedded depth for detecting self-excited vibration subsoiling monomer, and hydraulic means is controlled according to embedded depth, and then tilling depth variation is controlled in allowed band.
Description
Technical field
The invention belongs to agricultural machinery technological field, it is related to a kind of self-excited vibration subsoiler and tilling depth investigating method, it is led
To be applied to soil subsoiling farming field.
Background technology
Soil cultivation is the important step of agricultural production.Due to revolving using shallow for a long time, the unreasonable tillage method such as turn over, lead
China's farmland quality is caused to decline year by year, crop failure is serious.Subsoiling land preparation technology is the loose soil on the premise of soil is not stirred
Earth, can effectively break plough sole, improve soil granular structure, advantage significantly, is obtained energetically in recent years on reclamation result
Promote.Self-excited vibration deep-ploughing implement has obvious drag-reduction effect, and self-excited vibration subsoiler uses spring for exciting source at this stage,
Deep soil loosing shovel upper end is set to be connected with frame by spring, when soil resistance changes, deep soil loosing shovel is common in soil resistance and spring force
Lower swing is acted on, so as to reach drag-reduction effect.But it is sharp using spring because spring rate is certain, pretightning force adjustable range is limited
The self-excited vibration subsoiler of vibration source is soil specific resistance difference is big, the operation of different zones plot when there is bad adaptability, interruption failure
The problem of, cause tilling depth stability not ensure.
In the prior art, horizontal vibration device is set before frame and spade, and horizontal vibration device includes spring and set
In the hydraulic jack of spring inner, the design is still using spring as exciting source, compared to conventional springs self-excitation subsoiler in spring inner
Hydraulic cylinder is added, the stroke of vibrating spring is can control by adjusting the The hydraulic oil in hydraulic cylinder, the maximum to spring is stretched
Condense to put and be any limitation as, tilling depth is ensured with this.
The present invention using hydraulic cylinder as exciting source and supporting tilling depth detection means, tilling depth detection means monitor in real time tilling depth and with
Tilling depth variation adjusts hydraulic cylinder works pressure for index, makes soil resistance and exciting source real-time matching, it is ensured that on the premise of tilling depth
Make the drag-reduction effect that deep soil loosing shovel is optimal.
The present invention has compared with prior art has advantages below；
1st, using hydraulic cylinder as exciting source, cylinder hydraulic power can be achieved and adjusts in real time, it is to avoid spring is firm when being exciting source
The interruption failure that degree is not enough to be caused, therefore without the flexible amount control device of increase, subsoiling monomer structure is simplified.
2nd, tilling depth is detected in real time, using tilling depth variation as hydraulic cylinder works pressure controlling foundation, increases feedback element, can
More accurately, tilling depth uniformity is ensured with having foundation.
The content of the invention
To realize the purpose of the present invention, it is achieved using following technical scheme：
A kind of self-excited vibration subsoiler, including frame, detection means, hydraulic means, multiple self-excited vibration subsoiling monomers, its
It is characterised by：Detection means is arranged in frame, and multiple self-excited vibration subsoiling monomers and hydraulic means are arranged in frame；Self-excitation
Vibrating subsoiling monomer is used to loosen the soil, and hydraulic means is as the exciting source of self-excited vibration subsoiling monomer, and detection means is for detecting certainly
The embedded depth of excited vibration subsoiling monomer, and hydraulic means is controlled according to embedded depth, and then control tilling depth.
Described self-excited vibration subsoiler, wherein：Self-excited vibration subsoiling monomer includes monomer fixed mount, deep soil loosing shovel and connected
Plate, deep soil loosing shovel, hydraulic cylinder, suppression device；The suppression device includes press wheel, press wheel linking arm.
Described self-excited vibration subsoiler, wherein：Self-excited vibration subsoiling monomer is fixed in frame by monomer fixed mount；
Hydraulic cylinder front end earrings is hinged by bearing pin with monomer fixed mount upper end, and hydraulic cylinder other end earrings passes through the second bearing pin and subsoiling
Shovel connecting plate is hinged；Deep soil loosing shovel connection front edge of board is hinged by the first bearing pin with monomer fixed mount lower end, deep soil loosing shovel connecting plate the
One can rotate around bearing pin, and deep soil loosing shovel connecting plate rear end is fixedly connected with the upper end of deep soil loosing shovel.
Described self-excited vibration subsoiler, wherein：Suppression device upper end passes through the 3rd bearing pin and deep soil loosing shovel connecting plate end
Connection, suppression device can be rotated around bearing pin, and suppression device includes linking arm, and linking arm upper end is connected by the 3rd bearing pin and deep soil loosing shovel
The end connection of fishplate bar, the rotary shaft of linking arm lower end and press wheel is connected, press wheel can around linking arm lower end rotary rolling.
Described self-excited vibration subsoiler, wherein：Hydraulic means includes accumulator, filter, valve group, connecting pipe；Institute
Stating valve group includes multiple identical proportional pressure-reducing valves, is connected respectively by connecting pipe with multiple hydraulic cylinders, each ratio decompression
One hydraulic cylinder of valve independent control, hydraulic cylinder works pressure is adjusted by controlling proportional pressure-reducing valve oil-out pressure.
Described self-excited vibration subsoiler, wherein：The oil inlet of hydraulic means is connected with tractor hydraulic delivery outlet, is passed through
Filter, accumulator are connected to the oil inlet of valve group, and the oil return opening of hydraulic means is connected with tractor hydraulic oil return opening, and and valve group
Oil return opening is directly connected to, and the oil-out of valve group is connected to each hydraulic cylinder rodless cavity.
Described self-excited vibration subsoiler, it is characterised in that：Detection means includes master controller, connection circuit, monomer control
Device combination processed, sensor combinations；The piece controller combination includes multiple piece controllers, and sensor combinations include first jiao
Spend sensor and second angle sensor.
Described self-excited vibration subsoiler, wherein：Master controller is combined by connecting circuit with touch-screen, piece controller
Connection, touch-screen installs tractor cab；Each piece controller is connected with a sensor combinations；Each sensor group
First angle sensor levels in conjunction are fixed on above deep soil loosing shovel connecting plate, and second angle sensor is fixed on press wheel vertically
Above linking arm.
Described self-excited vibration subsoiler, wherein：Piece controller passes through the biography on self-excited vibration subsoiling monomer
Sensor combine detection tilling depth, the tilling depth coefficient of variation, average tilling depth are simultaneously sent to master controller；Piece controller also passes through control ratio
Example decompression valve regulation hydraulic cylinder works pressure, stable tilling depth.
It is a kind of one of as above described in self-excited vibration subsoiler self-excited vibration subsoiler investigating method, wherein：
This method comprises the following steps：
A. self-excited vibration subsoiling monomer running parameter is inputted by touch-screen；
B. the data that master controller is inputted according to touch-screen determine self-excited vibration subsoiling monomer size parameter and control monomer
Controller works；
C. piece controller calculates deep soil loosing shovel running parameter；
D. piece controller is according to the operating pressure for calculating operating parameter control hydraulic cylinder；
E. the running parameter calculated is sent to master controller by piece controller；
F. multiple monomer running parameters of reception are sent to touch-screen and shown by master controller.
Described self-excited vibration subsoiler investigating method, wherein：Methods described is specifically carried out as follows：
A. self-excited vibration subsoiling monomer size parameter H, h, L, L1, L2, R are inputted in touch-screen, under setting tilling depth variation
Limit VL, tilling depth variation upper limit VU, the initial set pressure P of proportional pressure-reducing valves；Self-excited vibration subsoiling tilling depth control is started by touch-screen
System；
B. the data that master controller is inputted according to touch-screen determine self-excited vibration subsoiling monomer size parameter H, h, L, L1,
L2, R, setting tilling depth variation lower limit VL, tilling depth variation upper limit VU, the initial set pressure P of proportional pressure-reducing valves, and it is sent to monomer control
Device combination processed；Piece controller is received after data, is started the data of reading angular sensor combinations, is calculated subsoiling monomer current
Tilling depth Dn, tilling depth coefficient of variation VD, average tilling depth Dm, wherein：H is vertical range of first bearing pin to deep soil loosing shovel spear；H is
Vertical range of one bearing pin to the 3rd bearing pin；L is horizontal range of first bearing pin to deep soil loosing shovel center line；L1 is that the 3rd bearing pin is arrived
Vertical range between the rotary shaft of press wheel；L2 is the distance between deep soil loosing shovel center line to linking arm center line；R is suppression
Take turns radius；
C. in step b, the current tilling depth D of deep soil loosing shovel is calculatednMethod be：
C1) as deep soil loosing shovel buries, the press wheel linking arm of first angle sensor detection and the angle of horizontal direction are
α, now calculates the current tilling depth D of deep soil loosing shovel 111 according to below equationn；
Dn=H-h- (L1 × sin α)-R
C2 when) deep soil loosing shovel vibrates, second angle sensor detects deep soil loosing shovel installing plate and the angle α of horizontal direction1,
Two angular transducers detect press wheel installing plate and the angle α of horizontal direction, now calculate deep soil loosing shovel according to below equation
Current tilling depth Dn；
Dn=Hcos a1-L1sin a+L2sin a1-h cos a1-R
Tilling depth mean value calculation is according to below equation：
In formula：N-sampled point number；
The tilling depth coefficient of variation is calculated according to below equation：
In formula：S-tilling depth standard deviation；
D. piece controller is by the current tilling depth D calculatedn, tilling depth coefficient of variation VD, average tilling depth DmIt is sent to main control
Device, master controller is sent to touch-screen after receiving and shown；
E. the piece controller tilling depth sampling interval is 0.5s, is added up after sampling predetermined number sample point, calculates this and makes a reservation for
The tilling depth coefficient of variation V of the sample point of numberD, piece controller is according to the tilling depth coefficient of variation VDAdjust hydraulic cylinder works pressure
Power, so that stable tilling depth.
Described self-excited vibration subsoiler investigating method, wherein piece controller are realized to hydraulic pressure using FUZZY ALGORITHMS FOR CONTROL
The control of cylinder pressure：Fuzzy controller is set up according to fuzzy control theory, the input variable of fuzzy controller is missed for the coefficient of variation
Poor e, coefficient of variation error rate ec, output quantity are proportional pressure-relief valve control voltage setting amount u.
Described self-excited vibration subsoiler investigating method, the determination method of wherein fuzzy controller input variable is：
(1) if VL＜ VD＜ VU, piece controller thinks the variation of current tilling depth in setting range, hydraulic cylinder works pressure
Do not adjust, then coefficient of variation error e=0；
(2) if VD＞ VU, piece controller thinks that the variation of current tilling depth deviates the variation of target tilling depth and become more than setting tilling depth
The different upper limit, tilling depth stability is poor, need to increase hydraulic cylinder works pressure, then coefficient of variation error e=VD-VU；
(3) if VD＜ VL, piece controller thinks that the variation of current tilling depth deviates the variation of target tilling depth and become less than setting tilling depth
Different lower limit, drag-reduction effect is poor, need to reduce hydraulic cylinder works pressure, then coefficient of variation error e=VD-VL；
Wherein：Coefficient of variation error rate ec is the ratio of this cycle coefficient of variation error time T corresponding with this cycle.
Described self-excited vibration subsoiler investigating method, wherein described fuzzy controller, which is set up, is divided into following steps：
A determines the input variable e spans e=[- 10,10] of fuzzy controller, ec spans according to pre-stage test
Ec=[- 20,20], output variable u spans u=[- 3,3]；
B is for input variable e, ec definitional language variable E, EC, Linguistic Value E ', EC ', and definitional language variable E, EC is discrete
Domain be { -6, -4, -2,0,2,4,6 }, Linguistic Value E ', EC ' codomains for negative big (NB), in bearing (NM), bears small (NS), zero (Z),
Just small (PS), hits exactly (PM), honest (PB) }；For output variable u definitional language variables U, Linguistic Value U ', and definitional language becomes
It is { -6, -4, -2,0,2,4,6 } to measure the discrete domains of U, and Linguistic Value U ' codomains are { negative big (NB) in bearing (NM), is born small (NS), zero
(Z) it is, just small (PS), hit exactly (PM), honest (PB)；
C according to the span of input variable e, ec and the discrete domain of linguistic variable E, EC, calculate input variable e,
Ec quantizing factor ke=0.6, kec=0.3；According to output variable u span and linguistic variable U discrete domain, calculate
Obtain output variable u quantizing factor ku=0.5；
D select trigonometric function as Linguistic Value E, EC, U membership function, respectively using the element in linguistic variable domain as
Central value sets up membership function；
E sets up fuzzy rule base, such as following table：
Described self-excited vibration subsoiler investigating method, wherein the course of work of described fuzzy controller is by following step
Suddenly：
A fuzzy controllers calculate coefficient of variation error e, coefficient of variation error rate ec in real time；
B carries out Fuzzy processing to coefficient of variation error e, coefficient of variation error rate ec, passes through quantizing factor ke、kec
Coefficient of variation error e, coefficient of variation rate of change ec are quantified as linguistic variable E, EC；
C fuzzy controllers try to achieve the language belonging to linguistic variable E, EC according to membership function and according to the maximum principle of degree of membership
Value A, B, A, B ∈ U '；
D fuzzy controllers carry out fuzzy reasoning according to fuzzy rule base, and linguistic variable U institutes are determined by Linguistic Value A, B
Linguistic Value C, the C ∈ U ' of category；
E carries out de-fuzzy processing to Linguistic Value C, according to gravity model appoach is to each element in Linguistic Value U ' set and its is subordinate to
Degree seeks weighted average, and carries out round, obtains linguistic variable U；
F fuzzy controllers pass through quantizing factor kuLinguistic variable U is converted into proportional pressure-relief valve control voltage setting amount u.
Brief description of the drawings
Fig. 1 is the general structure schematic diagram of self-excited vibration subsoiler of the present invention
Fig. 2 is the front view of self-excited vibration subsoiling monomer of the present invention
Fig. 3 suppresses the structural representation of device for the present invention
Fig. 4 is the structural representation of self-excited vibration subsoiling machine hydraulic equipment of the present invention
Fig. 5 is the structural representation of self-excited vibration subsoiling machine detecting device of the present invention
Fig. 6 is self-excited vibration subsoiling monomer size parameter schematic diagram of the present invention
Fig. 7 is self-excited vibration subsoiling monomer structure sketch of the present invention
Fig. 8 is that self-excited vibration subsoiling monomer of the present invention buries non-vibration state simplified schematic diagram
Fig. 9 is that self-excited vibration subsoiling monomer of the present invention buries vibrational state simplified schematic diagram
Figure 10 is self-excited vibration subsoiler piece controller tilling depth control flow chart of the present invention
Figure 11 is self-excited vibration subsoiler piece controller structure of fuzzy controller figure of the present invention
Figure 12 by self-excited vibration subsoiler piece controller FUZZY ALGORITHMS FOR CONTROL of the present invention use membership function shape
And distribution map
Reference
The bearing pin of 1 101 hydraulic cylinder of self-excited vibration subsoiling monomer 102
The bearing pin of 103 bearing pin, 104 monomer fixed mount 105
The bolt of 106 deep soil loosing shovel connecting plate, 107 bolt 108
The press wheel of 109 1091 press wheel linking arm of suppression device 1092
The land wheel of 110 bearing pin, 111 deep soil loosing shovel 2
The master controller 302 of 3 detection means 301 connects circuit
303 piece controllers combine the sensor combinations of 3031 piece controller 304
The touch-screen of 3041 angular transducer, 3042 angular transducer 4
The proportional pressure-reducing valve of 5 hydraulic means, 501 valve group 5011
The filter of 502 connecting pipe, 503 accumulator 504
The trifilar suspension of 6 frame 7
Embodiment
As shown in figure 1, the present invention provides a kind of self-excited vibration subsoiler, including trifilar suspension 7, frame 6, land wheel 2, detection
Device 3, touch-screen 4, hydraulic means 5, self-excited vibration subsoiling monomer 1.Wherein land wheel 2 is arranged on the both sides of frame 6, trifilar suspension 7
Position in the middle of frame front, for being connected with farming with tractor, detection means 3 be arranged on frame 6 on, it is multiple from
Excited vibration subsoiling monomer 1 and hydraulic means 5 are arranged in frame 6, and self-excited vibration subsoiling monomer 1 is used to loosen the soil, and hydraulic means 5 is done
For the exciting source of self-excited vibration subsoiling monomer 1, vibrated by producing subsoiling monomer with soil collective effect.Detection means 3 is used
Hydraulic means is controlled in the embedded depth of detection self-excited vibration subsoiling monomer 1, and according to embedded depth, and then controls tilling depth variation
In allowed band.
As shown in Fig. 2 self-excited vibration subsoiling monomer 1 includes monomer fixed mount 104, deep soil loosing shovel connecting plate 106, deep soil loosing shovel
111st, hydraulic cylinder 101, suppression device 109, suppression device include press wheel 1092, press wheel linking arm 1091.Self-excited vibration is deep
Loose monomer 1 is fixed in subsoiler frame 6 by monomer fixed mount 104.The front end earrings of hydraulic cylinder 101 passes through bearing pin 102 and list
The upper end of body fixed mount 104 is hinged, and the other end earrings of hydraulic cylinder 101 is hinged by bearing pin 103 with deep soil loosing shovel connecting plate 106；Subsoiling
The shovel front end of connecting plate 106 is hinged by bearing pin 105 with the lower end of monomer fixed mount 104, and deep soil loosing shovel connecting plate 106 can be around bearing pin 105
Rotate, the rear end of deep soil loosing shovel connecting plate 106 is fixedly connected with the upper end of deep soil loosing shovel 111, deep soil loosing shovel 111 by bolt 107, bolt 108
It is overall into hook-shaped downwards from upper end, for loosening the soil.As shown in Figure 2,3, the suppression upper end of device 109 passes through bearing pin 110 and subsoiling
The connection of the end of connecting plate 106 is shoveled, suppression device 109 can be rotated around bearing pin 110, specific suppression device 109 includes linking arm
1091, the upper end of linking arm 1091 is connected by bearing pin 110 with the end of deep soil loosing shovel connecting plate 106, the lower end of linking arm 1091 and town
Pinch roller 1092 rotary shaft connection, press wheel 1092 can around linking arm 1091 lower end rotary rolling.
In the course of work, press wheel 1092 is contacted with ground all the time, and certain operating pressure, self-excitation are kept in hydraulic cylinder 101
Vibrating subsoiling monomer 1 produces vibration because of soil resistance change.When soil resistance increases, deep soil loosing shovel 111 is tilted, and tilling depth shoals, deep
Pine shovel 111 drives deep soil loosing shovel connecting plate 106 to be rotated around bearing pin 105, and hydraulic cylinder 101 is compressed, deep soil loosing shovel connecting plate 106 and level
Angular separation α1Increase, press wheel linking arm 1091 and the inclination alpha of horizontal direction also increase；When soil resistance reduces, deep soil loosing shovel
111 is descending, and tilling depth increase, deep soil loosing shovel 111 drives deep soil loosing shovel connecting plate 106 to be rotated around bearing pin 105, and hydraulic cylinder 101 extends, subsoiling
Shovel connecting plate 106 and horizontal direction angle α1Reduce, press wheel linking arm 1091 and the angle α of horizontal direction also reduce.
The self-excited vibration subsoiler that the present invention is provided, including hydraulic means 5 and detection means 3.
Such as Fig. 4, hydraulic means 5 includes accumulator 503, filter 504, valve group 501, connecting pipe 502；Valve group 501 has
There are 5 identical proportional pressure-reducing valves 5011, be connected respectively by connecting pipe 502 with 5 hydraulic cylinders 101；Each ratio decompression
Valve 5011 independent control, one hydraulic cylinder 101, it is non-interference, by controlling the oil-out A pressure adjustable sections of proportional pressure-reducing valve 5011
The operating pressure of hydraulic cylinder 101.
The oil inlet P of hydraulic means 5 is connected with tractor hydraulic delivery outlet, is connected to through filter 504, accumulator 503
The oil inlet P of valve group 501, the oil return inlet T of hydraulic means 5 is connected with tractor hydraulic oil return opening, and with the oil return inlet T of valve group 501
It is directly connected to, accumulator 503, which has, absorbs hydraulic pulsation, the effect of steady pressure；The oil-out A of valve group 501 is connected to respectively respectively
The rodless cavity of hydraulic cylinder 101.
Such as Fig. 5, detection means 3 includes master controller 301, connection circuit 302, piece controller combination 303, sensor group
304 are closed, piece controller combination 303 has the piece controller 3031 that 5 addresses are respectively 01,02,03,04,05, sensor
Combination 304 includes angular transducer 3041, angular transducer 3042.Master controller 301 by connect circuit 302 and touch-screen 4,
Piece controller combination 303 is connected, and touch-screen 4 is placed on tractor cab, facilitates staff to set initial parameter and reading
Take current operating parameters；Each piece controller 3031 is connected with a sensor combinations 304, and sensor combinations 304 include
Angular transducer 3041, angular transducer 3042；Angular transducer 3042 is horizontally fixed on the top of deep soil loosing shovel connecting plate 106, angle
Degree sensor 3041 is vertical to be fixed on the top of press wheel linking arm 1091.Detection means 3 has 1 master controller in the present invention
301 have one list of installation on the piece controller 3031 of different addresses, each self-excited vibration subsoiling monomer 1 with several
Body controller 3031.Master controller 301 reads the data of each piece controller by the way of poll, and is sent to touch-screen
4 displays；The one side of piece controller 3031 is detected by self-excited vibration subsoiling monomer 1 sensor combinations 304 and ploughed
The running parameters such as depth, the tilling depth coefficient of variation, average tilling depth are sent to master controller 301, and another aspect piece controller 3031 leads to
Cross the regulation operating pressure of hydraulic cylinder 101 of control proportional pressure-reducing valve 5011, stable tilling depth.To ensure that self-excited vibration subsoiler tilling depth is surveyed
The good expansion of control system, master controller 301 uses RS485 communication protocols, piece controller with piece controller 3031
3031 can expand according to the quantity of subsoiling monomer 1.
The present invention provides a kind of self-excited vibration subsoiler tilling depth investigating method, with reference to the size of self-excited vibration subsoiling monomer 1 ginseng
Number and deep soil loosing shovel connecting plate 106, the angle change of press wheel linking arm 1091 calculate current tilling depth.
The dimensional parameters of self-excited vibration subsoiling monomer 1, make auxiliary straight line AB, BC, CD for convenience of description.As shown in fig. 6, pin
A points are set at axle 105, and straight line AB is bearing pin 105 and the place horizontal line of deep soil loosing shovel connecting plate 106, and straight line BC is the institute of deep soil loosing shovel 111
In vertical curve, straight line AB and straight line BC intersects at B points；D points are set at bearing pin 110, and straight line CD is that bearing pin 110 is connected with deep soil loosing shovel
The place horizontal line of plate 106, straight line BC is set to C points with straight line CD intersections.In Fig. 6, H is that bearing pin 105 is to spear distance, L
2 points of distances of A, B, h are B, C 2 points of distances, L2For C, D 2 points of distances, L1Arm lengths are connected for press wheel, R is press wheel radius.
Deep soil loosing shovel connecting plate 106, the angle of press wheel connecting plate 1091 when being vibrated for convenience of analysis self-excited vibration subsoiling monomer 1
Change, draws self-excited vibration subsoiling monomer simplified model, such as Fig. 7.In vibration processes, press wheel 1092 is contacted with ground all the time,
When soil resistance increases, deep soil loosing shovel 111 is tilted, deep soil loosing shovel connecting plate 106 and horizontal direction angle α1Increase, press wheel linking arm
1091 also increase with the inclination alpha of horizontal direction；When soil resistance reduces, deep soil loosing shovel 111 is descending, deep soil loosing shovel connecting plate 106 and water
Square to angle α1Reduce, press wheel linking arm 1091 and the angle α of horizontal direction also reduce.
A kind of self-excited vibration subsoiler tilling depth investigating method, this method comprises the following steps：
A, by the oil inlet P of hydraulic means 5, oil return inlet T and tractor hydraulic delivery outlet, oil return opening connect, in touch-screen 4
Middle input self-excited vibration subsoiling monomer 1 dimensional parameters H, h, L, L1, L2, R, setting tilling depth variation lower limit VL, tilling depth variation upper limit VU
(requirement of agronomy site preparation quality can be considered and drag reduction degree sets tilling depth variation lower limit VL, tilling depth variation upper limit VU), ratio subtracts
The initial set pressure P of pressure valve 5011s, START button on point touching screen starts self-excited vibration subsoiling tilling depth observing and controlling machine；
B, master controller 301 read self-excited vibration subsoiling monomer 1 dimensional parameters H, h, L, L1, L2, R, setting to touch-screen 4
Tilling depth variation lower limit VL, tilling depth variation upper limit VU, the initial set pressure P of proportional pressure-reducing valve 5011s, and it is sent to piece controller
Combination 303；So that 01 piece controller 3031 is in address as an example, piece controller 3031 is received after data, starts reading angular
The data of sensor 3041, angular transducer 3042, calculate the current tilling depth D of deep soil loosing shovel 111n, tilling depth coefficient of variation VD, it is average
Tilling depth Dm；
In c, step b, the current tilling depth D of deep soil loosing shovel 111 is calculatedn, tilling depth coefficient of variation VD, average tilling depth DmMethod be：
C1) as deep soil loosing shovel 111 buries, press wheel linking arm and the angle of horizontal direction that angular transducer 3041 is detected
For α, such as Fig. 8, the current tilling depth D of deep soil loosing shovel 111 is now calculated according to below equationn；
Dn=H-h- (L1 × sin a)-R
C2 when) deep soil loosing shovel 111 vibrates, angular transducer 3042 detects the folder of deep soil loosing shovel installing plate 106 and horizontal direction
Angle α1, angular transducer 3041 detect press wheel installing plate and the angle α of horizontal direction, such as Fig. 9, now according to below equation
Calculate the current tilling depth D of deep soil loosing shoveln；
Dn=Hcosa1-L1sin a+L2sin a1-h cos a1-R
C3) tilling depth mean value calculation is according to below equation：
In formula：
N-sampled point number；
C4) tilling depth mean value calculation is according to below equation：
In formula：
S-tilling depth standard deviation, unit cm
D, piece controller 3031 are by the current tilling depth D calculatedn, tilling depth coefficient of variation VD, average tilling depth DmIt is sent to master
Controller 301, master controller 301 is sent to touch-screen 4 after receiving and shown；
E, the setting sampling interval of piece controller 3031 are 0.5s, and piece controller 3031 becomes the tilling depth calculated in real time
Different coefficient VDWith the tilling depth variation lower limit V of settingL, tilling depth variation upper limit VUIt is compared, control hydraulic pressure is used as according to comparison result
Cylinder working pressure.
The algorithm of the control hydraulic cylinder works pressure of piece controller 3031 is as shown in Figure 10.Piece controller 3031 is according to cultivated
Deep coefficient of variation VDThe tilling depth variation lower limit V of settingL, tilling depth variation upper limit VUCalculate coefficient of variation error e and the coefficient of variation
Error rate ec is as the input of fuzzy controller, fuzzy controller export ratio pressure-reducing valve control voltage setting amount u, and then
Adjust hydraulic cylinder works pressure.
The determination method of fuzzy controller input variable (coefficient of variation error e) is：
(1) if VL＜ VD＜ VU, piece controller thinks the variation of current tilling depth in setting range, hydraulic cylinder works pressure
Do not adjust, then coefficient of variation error e=0；
(2) if VD＞ VU, piece controller thinks that the variation of current tilling depth deviates the variation of target tilling depth and become more than setting tilling depth
The different upper limit, tilling depth stability is poor, need to increase hydraulic cylinder works pressure, now coefficient of variation error e=vD-vU；
(3) if vD＜ vL, piece controller thinks that the variation of current tilling depth deviates the variation of target tilling depth and become less than setting tilling depth
Different lower limit, drag-reduction effect is poor, need to reduce hydraulic cylinder works pressure, then coefficient of variation error e=VD-VL；
(4) coefficient of variation error rate ec is the ratio of this cycle coefficient of variation error time T corresponding with this cycle.
Structure of fuzzy controller as shown in figure 11, sets up fuzzy controller and is divided into following steps：
A determines the input variable e spans e=[- 10,10] of fuzzy controller, ec spans according to pre-stage test
Ec=[- 20,20], output variable u spans u=[- 3,3]；
B is for input variable e, ec definitional language variable E, EC, Linguistic Value E ', EC ', and definitional language variable E, EC is discrete
Domain be { -6, -4, -2,0,2,4,6 }, Linguistic Value E ', EC ' codomains for negative big (NB), in bearing (NM), bears small (NS), zero (Z),
Just small (PS), hits exactly (PM), honest (PB) }；For output variable definitional language variable U, Linguistic Value U ', and definitional language variable
The discrete domains of U are { -6, -4, -2,0,2,4,6 }, and Linguistic Value U ' codomains are { negative big (NB) in bearing (NM), is born small (NS), zero
(Z) it is, just small (PS), hit exactly (PM), honest (PB)；
C according to the span of input variable e, ec and the discrete domain of linguistic variable E, EC, calculate input variable e,
Ec quantizing factor ke=0.6, kec=0.3；According to output variable u span and linguistic variable U discrete domain, calculate
Obtain output variable u quantizing factor ku=0.5；
D select trigonometric function as Linguistic Value E, EC, U membership function, respectively using the element in linguistic variable domain as
Central value sets up membership function, and Membership Function Distribution is as shown in figure 12.
E sets up fuzzy rule base, such as following table：
The course of work of fuzzy controller is as follows：
A fuzzy controllers calculate coefficient of variation error e, coefficient of variation error rate ec in real time；
B carries out Fuzzy processing to coefficient of variation error e, coefficient of variation error rate ec, passes through quantizing factor ke、kec
Coefficient of variation error e, coefficient of variation rate of change ec are quantified as linguistic variable E, EC；
C fuzzy controllers try to achieve the language belonging to linguistic variable E, EC according to membership function and according to the maximum principle of degree of membership
Value A, B, A, B ∈ U '；
D fuzzy controllers carry out fuzzy reasoning according to fuzzy rule base, and linguistic variable U institutes are determined by Linguistic Value A, B
Linguistic Value C, the C ∈ U ' of category；
E carries out de-fuzzy processing to Linguistic Value C, according to gravity model appoach is to each element in Linguistic Value U ' set and its is subordinate to
Degree seeks weighted average, and carries out round, obtains linguistic variable U；
F fuzzy controllers pass through quantizing factor kuLinguistic variable U is converted into proportional pressure-relief valve control voltage setting amount u, u
>0 represents increase hydraulic cylinder works pressure, u<0 represents to reduce hydraulic cylinder works pressure.
The present invention can be achieved cylinder hydraulic power and adjust in real time using hydraulic cylinder as exciting source, it is to avoid spring is exciting source
When the interruption failure that causes of insufficient rigidity, therefore without the flexible amount control device of increase, subsoiling monomer structure is simplified.This hair
It is bright to detect tilling depth in real time, using tilling depth variation as hydraulic cylinder works pressure controlling foundation, increase feedback element, can be more
Accurately, tilling depth uniformity is ensured with having foundation.
Claims (6)
1. a kind of self-excited vibration subsoiler, including frame, detection means, hydraulic means, multiple self-excited vibration subsoiling monomers, it is special
Levy and be：Detection means is arranged in frame, and multiple self-excited vibration subsoiling monomers and hydraulic means are arranged in frame；From exciting
Dynamic subsoiling monomer is used to loosen the soil, and hydraulic means is as the exciting source of self-excited vibration subsoiling monomer, and detection means is for detecting self-excitation
The embedded depth of vibrating subsoiling monomer, and hydraulic means is controlled according to embedded depth, and then control tilling depth.
2. self-excited vibration subsoiler according to claim 1, it is characterised in that：Self-excited vibration subsoiling monomer includes monomer solid
Determine frame, deep soil loosing shovel connecting plate, deep soil loosing shovel, hydraulic cylinder, suppression device；The suppression device includes press wheel, press wheel linking arm.
3. self-excited vibration subsoiler according to claim 2, it is characterised in that：Self-excited vibration subsoiling monomer passes through monomer solid
Determine frame to be fixed in frame；Hydraulic cylinder front end earrings is hinged by bearing pin with monomer fixed mount upper end, hydraulic cylinder other end earrings
It is hinged by the second bearing pin with deep soil loosing shovel connecting plate；Deep soil loosing shovel connects front edge of board and cut with scissors by the first bearing pin and monomer fixed mount lower end
Connect, deep soil loosing shovel connecting plate can be rotated around bearing pin, deep soil loosing shovel connecting plate rear end is fixedly connected with the upper end of deep soil loosing shovel.
4. self-excited vibration subsoiler according to claim 1, it is characterised in that：Detection means includes master controller, connection
Circuit, piece controller combination, sensor combinations；The piece controller combination includes multiple piece controllers, sensor group
Conjunction includes first angle sensor and second angle sensor.
5. self-excited vibration subsoiler according to claim 4, it is characterised in that：Master controller is by connecting circuit and touch
Screen, piece controller combination connection, touch-screen install tractor cab；Each piece controller and a sensor combinations
Connection；First angle sensor levels in each sensor combinations are fixed on above deep soil loosing shovel connecting plate, second angle sensing
Device is fixed on above press wheel linking arm vertically.
6. a kind of self-excited vibration subsoiler investigating method of self-excited vibration subsoiler as described in one of claim 1-5, it is special
Levy and be：
This method comprises the following steps：
A. self-excited vibration subsoiling monomer running parameter is inputted by touch-screen；
B. the data that master controller is inputted according to touch-screen determine self-excited vibration subsoiling monomer size parameter and control monomer to control
Device works；
C. piece controller calculates deep soil loosing shovel running parameter；
D. piece controller is according to the operating pressure for calculating operating parameter control hydraulic cylinder；
E. the running parameter calculated is sent to master controller by piece controller；
F. multiple monomer running parameters of reception are sent to touch-screen and shown by master controller.
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| CN108377686A (en) * | 2018-05-29 | 2018-08-10 | 中国农业大学 | A kind of tilling depth automatic control and adjustment device and its control to adjust method |
| CN108901201A (en) * | 2018-08-08 | 2018-11-30 | 新疆农垦科学院 | A kind of fluid pressure type self-excitation vibration drag reduction avoidance loosening device |
| CN109813271A (en) * | 2019-02-14 | 2019-05-28 | 河北信翔电子有限公司 | A kind of agricultural machinery and implement depth of implements calculation method |
| CN110073753A (en) * | 2019-04-23 | 2019-08-02 | 北京农业智能装备技术研究中心 | A kind of crop field intertillage topdressing operation quality on-line monitoring device and method |
| CN112326166A (en) * | 2020-09-30 | 2021-02-05 | 北京航天光华电子技术有限公司 | Adjustable random vibration magnitude amplification device and test method |
| CN113179715A (en) * | 2021-05-25 | 2021-07-30 | 中国农业大学 | Active seeding depth and suppression force adjusting system of no-tillage seeder |
| CN114747309A (en) * | 2022-05-13 | 2022-07-15 | 河南科技大学 | Double-frequency self-excited vibration type double-wing break shovel |
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| CN108377686A (en) * | 2018-05-29 | 2018-08-10 | 中国农业大学 | A kind of tilling depth automatic control and adjustment device and its control to adjust method |
| CN108901201A (en) * | 2018-08-08 | 2018-11-30 | 新疆农垦科学院 | A kind of fluid pressure type self-excitation vibration drag reduction avoidance loosening device |
| CN109813271A (en) * | 2019-02-14 | 2019-05-28 | 河北信翔电子有限公司 | A kind of agricultural machinery and implement depth of implements calculation method |
| CN110073753A (en) * | 2019-04-23 | 2019-08-02 | 北京农业智能装备技术研究中心 | A kind of crop field intertillage topdressing operation quality on-line monitoring device and method |
| CN112326166A (en) * | 2020-09-30 | 2021-02-05 | 北京航天光华电子技术有限公司 | Adjustable random vibration magnitude amplification device and test method |
| CN112326166B (en) * | 2020-09-30 | 2022-12-27 | 北京航天光华电子技术有限公司 | Adjustable random vibration magnitude amplification device and test method |
| CN113179715A (en) * | 2021-05-25 | 2021-07-30 | 中国农业大学 | Active seeding depth and suppression force adjusting system of no-tillage seeder |
| CN113179715B (en) * | 2021-05-25 | 2022-12-13 | 中国农业大学 | Active seeding depth and suppression force adjusting system of no-tillage seeder |
| CN114747309A (en) * | 2022-05-13 | 2022-07-15 | 河南科技大学 | Double-frequency self-excited vibration type double-wing break shovel |
| CN114747309B (en) * | 2022-05-13 | 2022-12-27 | 河南科技大学 | Double-frequency self-excited vibration type double-wing break shovel |
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