CN110476583A - Picker for tuber crops operating speed adaptive control system and method - Google Patents
Picker for tuber crops operating speed adaptive control system and method Download PDFInfo
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- CN110476583A CN110476583A CN201910732679.6A CN201910732679A CN110476583A CN 110476583 A CN110476583 A CN 110476583A CN 201910732679 A CN201910732679 A CN 201910732679A CN 110476583 A CN110476583 A CN 110476583A
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D33/00—Accessories for digging harvesters
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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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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F17/00—Digital computing or data processing equipment or methods, specially adapted for specific functions
- G06F17/10—Complex mathematical operations
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Abstract
The present invention provides a kind of picker for tuber crops operating speed adaptive control system and method, realizes the real-time adjustment of the picker for tuber crops work machine speed of travel and separator linear velocity.Picker for tuber crops operating speed adaptive control system includes signal acquisition module, Vehicle Controller, solenoid valve driving module and monitor terminal, and signal acquisition module includes the sensor that each workpiece monitoring point on picker for tuber crops is arranged in；Monitor terminal, for for inputting job instruction and real-time display working status parameter to picker for tuber crops when harvesting；Vehicle Controller is fuzzy adaptive controller；Signal acquisition module connects Vehicle Controller input terminal, and Vehicle Controller output end connects solenoid valve driving module, and monitor terminal connects Vehicle Controller input terminal and output end.
Description
Technical field
The present invention relates to a kind of picker for tuber crops operating speed adaptive control system and methods
, belong to agricultural mechanical field.
Background technique
Picker for tuber crops operating speed includes the cropper speed of travel and potato soil separator linear velocity.
When picker for tuber crops carries out harvest operation, driver carries out constant speed operation (speed by rule of thumb with the initial velocity of setting
Degree is generally 3~7 km/h).If operating speed is too fast, blocking is easily caused, exposed potato rate reduces, and tractive force is excessive to easily lead to machine
Device failure；If operating speed is excessively slow, it is not only unable to give full play the odds for effectiveness of mechanical harvest, productivity is caused to decline, together
When since the residence time is too long on separator for crop, will cause potato-damaging rate and broken skin rate and increase.If can be according to potato
Crop feed quantity adjusts operating speed in real time, and cropper is made to always work in optimum speed under separator not stopping state,
Harvest operation performance indicator can be then greatly improved, while mitigating the operation intensity of operator.
Potato soil separator is the important component of picker for tuber crops, and the load born at work is very big, the unit time
Feed quantity is up to 150~200 kg/s.Aspect of performance require the soil that separates up to 70%~80%, reliable operation, to the damage of potato wedge
Hurt it is small, while separation remaining soil conveyed backward.Common harvest separate mode has vibration separated, tilting flat conveying
With dial the forms such as roller propelling movement type.As potato manufacturing machine is to enlargement, intelligent development, crop is defeated when the harvest operation of field
The amount of sending is increasing, and to the potato soil separating capacity and working efficiency of transfer separation device, more stringent requirements are proposed.
The picker for tuber crops speed of travel and separator linear velocity are directly affect operation quality and efficiency of crop main
Control parameter, the speed of travel and should be able to be adjusted in real time with separator linear velocity according to operating condition, of good performance
Picker for tuber crops should have the maximum speed of travel under the premise of being no more than specified feed quantity and exposed potato rate qualified.Mesh
Before, domestic and international agricultural machinery researcher has made much in terms of the automatic control of the cropper speed of travel and separator linear velocity
Research, achieves more research achievement.Lv Jinqing etc. is big for heavy soil potato lifter operation resistance, easily blocking,
The outstanding problems such as high failure rate, mechanical damage rate height, inferior separating effect, exposed potato rate be low, researching and designing 4U2A type potato dig
Pick machine, separator use second level elevator chain structure, while elaborating the cropper speed of travel and separator linear velocity
Proportion relation；The time-consuming, effect for manual pick's potato wedge existing for domestic item paving formula potato lifter at present such as Wei Hongan
The low outstanding problem of rate, has developed a kind of 44 ~ 58.8 medium-sized potato combines of kW tractor semimounted, which adopts
With two-stage with rod-type soil potato separate transfer and lever swing arm support roller, and analyze the linear speed of separation conveying grid bar band
The kinematic parameter of the separate transfers such as degree, vibration frequency and amplitude, while discussing the linear velocity and unit speed of grid bar band
Value range；It is not flexible, logical that Lu Xianghui etc. is directed to that domestic potato combine longitudinal size is larger, farm work is turned around
The property crossed and the poor problem of stability are high to the scraper plate of 4U-1400 potato combine second level soil potato separate transfer
The important parameters such as degree, conveying speed and tilt angle are analyzed, and obtain optimized parameter, and verify its knot by field trial
Fruit.
Although above-mentioned several cropper operating speed control systems are to the picker for tuber crops speed of travel and separator linear speed
The proportion relation of degree is studied, but does not propose a kind of effective solution.The picker for tuber crops speed of travel is all
It is to be obtained by rule of thumb by driver, separator obtains power from tractor motive power output shaft, when tractor is operated at full capacity,
Power output shaft exports invariablenes turning speed, then separator linear velocity is also invariable, removes non-replaceable drive sprocket.Several schemes are all
Not according to soil types, potato kind, power and to harvest quality requirement difference, in real time adjust the picker for tuber crops speed of travel and
The size and proportion relation of separator linear velocity, to reduce the congestion of harvest operation and improve harvest performance indicator.
Potato type harvesting machinery Industry is taken a broad view of, a kind of picker for tuber crops operating speed that intelligent level is high control is badly in need of
System realizes the self adaptive control of the picker for tuber crops speed of travel and separator linear velocity, improves harvest quality level.
Summary of the invention
In order to overcome existing picker for tuber crops operating speed control insufficient, the present invention provides a kind of potato type harvesting machine operation speed
Adaptive control system and method are spent, realizes the real-time tune of the picker for tuber crops work machine speed of travel and separator linear velocity
It is whole.
The present invention to achieve the above object, is achieved through the following technical solutions:
A kind of picker for tuber crops operating speed adaptive control system, including signal acquisition module, Vehicle Controller, solenoid valve drive
Dynamic model block and monitor terminal,
Signal acquisition module includes the sensor that each workpiece monitoring point on picker for tuber crops is arranged in, for acquiring potato
The job information of cropper；
Monitor terminal, for being shown to picker for tuber crops operating parameter and operating status；
Vehicle Controller is fuzzy adaptive controller, and the signal of signal acquisition module acquisition is after signal conditioning circuit is handled
Vehicle Controller is inputted, by Model reference fuzzy adaptive control algorithm, Vehicle Controller obtains picker for tuber crops walking speed
The knots modification of degree and native potato separator linear velocity, Vehicle Controller drive according to knots modification output voltage signal drive magnetic valve
Module adjusts the machine speed of travel and native potato separator linear velocity, carries out harvest operation；
Signal acquisition module connects Vehicle Controller input terminal, and Vehicle Controller output end connects solenoid valve driving module and monitoring
Terminal.
The picker for tuber crops operating speed adaptive control system preferred embodiment, signal acquisition module include being mounted on
The walking velocity sensor of picker for tuber crops walking mechanism, the separation being mounted on native potato separator hydraulic motor are tested the speed sensing
Device and the near infrared light soil potato being mounted in native potato separator rack feed quantity sensor.
The picker for tuber crops operating speed adaptive control system preferred embodiment, native potato separator linear velocity linear speed
It spends as follows with picker for tuber crops walking mechanism speed proportion relation, in formula, running gear speed is Vp, separation conveying dress
Setting linear velocity is Vr, and λ is velocity coeffficient, and value is generally 0.8~2.5.
The picker for tuber crops operating speed adaptive control system preferred embodiment, velocity coeffficient λ range are as follows: 0.8 ~
1.07,1.07 ~ 1.42,1.42 ~ 1.88,1.88 ~ 2.50.
The picker for tuber crops operating speed adaptive control system preferred embodiment, native potato feed quantity convey load gradient
It is as follows with blocking boundary condition:
In formula, k1, k2, k3 are greater than zero constant, and have k1 >=k2, Q rQuantity sensor is fed for native potato to obtain currently existing
Line is averaged feed quantity, and unit is kg/s, QmaxFor the online native potato feed quantity of maximum of permission, unitary current gradient is Δ i, IrFor
Solenoid valve driving module electric current, I corresponding to current work speednThe driving electricity of solenoid valve driving module is defeated by for subsequent time
Stream, ImaxFor solenoid valve driving module allow maximum drive current,
From formula it is found that when native potato feed quantity is in the 1st, 2 gradient, allow to increase native potato feed quantity conveying load, by not
It is disconnected to increase driving current to realize speedup;When being in 3 gradient, native potato feed quantity is in optimum state, maintains current work
Speed is constant;When being in 4 gradient, native potato feed quantity is in the limit, it is possible to result in blockage, which is blocking perimeter strip
Part should realize reduction of speed by constantly reducing driving current.
7. it is a kind of using picker for tuber crops operating speed adaptive control system described in claims 1 to cropper
The method of operating speed adjustment, characterized in that include the following steps:
S1. when potato type harvesting machine operation, the initial picker for tuber crops speed of travel is first set；
S2. quantity sensor is fed by native potato and calculates practical soil potato feed quantity, switch to picker for tuber crops through gradient optimal method
The optimal driving current of the speed of travel, input signal r of the driving current as fuzzy adjusteri, roFor picker for tuber crops
The practical driving current of the speed of travel；
S3. adaptive control algorithm is called, the final output after adjusting using fuzzy adjuster is just destined to potato
Practical driving current corresponding to cropper operating speed adjusts the speed of travel；
S4. when native potato feed quantity is in optimum state, parameter optimization is not needed, maintains current work speed constant;When native potato is fed
Enter amount and do not reach the stage upper limit, increases native potato feed quantity and convey load, realize speedup by being continuously increased driving current, make
The speed of travel changes the maximum value until the load stage;When native potato feed quantity reaches capacity, reduction driving current drops to realize
Speed；
In this step, while fuzzy controller according to harvest condition determines velocity coeffficient λ, is sent to native potato separator linear speed
The corresponding practical driving current of degree.
The working principle of the invention: by the running gear velocity sensor 11 being mounted on tractor, it is mounted on native potato
Separation velocity sensor 9 on separator hydraulic motor and four groups of near infrared lights being mounted in native potato separator rack soil
Potato feeds the job information that quantity sensor 13 acquires picker for tuber crops, and control system is using the collected signal of sensor as system
Current input signal obtains the machine speed of travel and native potato separator by Model reference fuzzy adaptive control algorithm
The knots modification of speed.Controller adjusts the machine speed of travel and native potato according to knots modification output voltage control signal drive magnetic valve
Separator speed makes it carry out harvest operation according to optimal velocity and optimal velocity proportion.
The present invention has the advantages that being realized by self-adaptive fuzzy PID algorithm to running gear speed in harvest operation
With the automatic adjustment of separator linear velocity, potato type harvesting machinery automatization level and transaction capabilities are further improved.
Detailed description of the invention
Attached drawing is used to provide further understanding of the present invention, and constitutes part of specification, with reality of the invention
It applies example to be used to explain the present invention together, not be construed as limiting the invention.
Fig. 1 is schematic structural view of the invention；
Fig. 2 is Vehicle Controller circuit diagram of the present invention；
Fig. 3 is present invention walking velocity sensor signal conditioning circuit figure；
Fig. 4 is present invention walking velocity sensor A/D conversion circuit figure；
Fig. 5 is running gear solenoid valve simulated measurement input circuit figure of the present invention；
Fig. 6 is adaptive fuzzy control system structural schematic diagram of the present invention；
Fig. 7 is the method for the present invention flow chart.
Wherein, 1. monitor terminal, 2. Vehicle Controllers, 3. solenoid valve driving modules, 4. signal acquisition modules, 5. rows
Walking apparatus solenoid valve, 6. walking hydraulic variable displacement pumps, 7. separating mechanism solenoid valves, 8. separation hydraulic variable displacement pumps, 9. separate the biography that tests the speed
Sensor, 10. native potato separators, 11. walking velocity sensors, 12. walking mechanisms, 13. feeding quantity sensors, 14. racks are total
At.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In description of the invention, it should be noted that the orientation of the instructions such as term "vertical", "upper", "lower", "horizontal" or
Person's positional relationship is orientation based on the figure or positional relationship, is merely for convenience of this practical and simplified description of description,
Rather than the device or element of instruction or hint meaning must have a particular orientation, and are constructed and grasped with specific orientation
Make, therefore is not considered as limiting the invention.In addition, " first ", " second ", " third ", " the 4th " are only used for description mesh
, and should not be understood as indicating or implying relative importance.
As background technique is mentioned, existing potato type harvesting machinery separator intelligent level is low, design and installation do not conform to
The problems such as reason, potato-damaging rate and broken skin rate are high, production efficiency is low, to solve the above-mentioned problems, the present invention use following scheme: reference
Fig. 1, a kind of picker for tuber crops operating speed adaptive control system include signal acquisition module 4, Vehicle Controller 2, solenoid valve
Drive module 3 and monitor terminal 1, signal acquisition module 4 include that each workpiece monitoring point on picker for tuber crops is arranged in
Sensor, for acquiring the job information of picker for tuber crops；Monitor terminal 1, for picker for tuber crops operating parameter and operation
State is shown also there is super-limit prewarning module and fault alarm module；Vehicle Controller 2 is fuzzy adaptive controller,
Including data processing module, signal conditioning circuit and data memory module, signal acquisition module) acquisition signal pass through signal tune
Vehicle Controller 2 is inputted after managing processing of circuit, by Model reference fuzzy adaptive control algorithm, Vehicle Controller 2 obtains potato
The knots modification of the class cropper speed of travel and native potato separator linear velocity, Vehicle Controller 2 are believed according to knots modification output voltage
Number drive magnetic valve drive module 3 adjusts the machine speed of travel and native potato separator linear velocity, carries out harvest operation；Signal is adopted
Collecting module 4 and connects 2 input terminal of Vehicle Controller, 2 output end of Vehicle Controller connects solenoid valve driving module 3 and monitor terminal 1,
Monitor terminal 1 connects 2 input terminal of Vehicle Controller and output end.
Fig. 2 is examined, Vehicle Controller uses ATMEGA32A-AU single-chip microcontroller, possesses 32KB flash capacity, 1KB EEPROM is deposited
Reservoir capacity, 32KB memory capacity, 2KB RAM possess 32 I/O interfaces, and 7 groups of analog-digital converters input, 3 groups of timer numbers,
4 channel PWM, highest 16MHz clock frequency, debugging interface type: the types such as JTAG, SPI, USART can work in 2.7V
To 5.5V is encapsulated using 44 pin number QFP, can be in+85 °C of temperature range work of -40 °C of to, strong antijamming capability.
In the present embodiment, signal acquisition module 4 includes being mounted on the walking of picker for tuber crops walking mechanism 12 to test the speed sensing
Device 11, the separation velocity sensor 9 being mounted on native 10 hydraulic motor of potato separator and is mounted on native potato separator rack
Near infrared light soil potato on assembly 14 feeds quantity sensor 13.
It is 0-5V analog voltage with reference to Fig. 3 walking 11 output signal of velocity sensor, by the end A0- and A0+ with difference
Mode accesses signal conditioning circuit, is sent into MCP3208A/D conversion circuit, MCP3208A/D conversion electricity by the end CH0 after treatment
As shown in figure 4, the A/D conversion of 8 tunnel analog signals can be achieved altogether, the digital signal after conversion is sent directly into Vehicle Controller 2 on road
Carry out data processing.
In the present embodiment, solenoid valve driving module 3 includes being mounted on walking mechanism drive part to walk hydraulic variable displacement pump 6
On running gear solenoid valve 5 separate separating mechanism solenoid valve 7 on hydraulic variable displacement pump 8 with native potato separator is mounted on.
With reference to Fig. 5, running gear solenoid valve control signal is 0-10V analog voltage, and analog voltage output circuit is based on
LM358.The analog quantity output signals of Vehicle Controller 2 are converted to 0-10V analog voltage after LM358, to be solenoid valve
Control signal is provided, BAV99 is used to improve the driving capability of control signal.
With reference to Fig. 7, native potato separator linear velocity linear velocity and picker for tuber crops walking mechanism speed proportion relation are as follows, in formula, running gear speed is Vp, and separate transfer linear velocity is Vr, and λ is velocity coeffficient, and value is generally
0.8~2.5.According to natural conditions, soil types, potato kind, cropper power and to harvest quality requirement difference, by λ value
It is divided into fourth gear, velocity coeffficient λ range is as follows: 0.8 ~ 1.07,1.07 ~ 1.42,1.42 ~ 1.88,1.88 ~ 2.50.Vehicle Controller
It can guarantee running gear and separator under optimum speed and optimum speed proportion according to harvest condition access speed coefficient lambda
Work.
With reference to Fig. 7, native potato feed quantity conveying load gradient and blocking boundary condition are as follows:
In formula, k1, k2, k3 are greater than zero constant, and have k1 >=k2, Q rQuantity sensor is fed for native potato to obtain currently existing
Line is averaged feed quantity, and unit is kg/s, QmaxFor the online native potato feed quantity of maximum of permission, unitary current gradient is Δ i, IrFor
3 electric current of solenoid valve driving module, I corresponding to current work speednThe driving of solenoid valve driving module 3 is defeated by for subsequent time
Electric current, ImaxFor solenoid valve driving module 3 allow maximum drive current,
From formula it is found that when native potato feed quantity is in the 1st, 2 gradient, allow to increase native potato feed quantity conveying load, by not
It is disconnected to increase driving current to realize speedup;When being in 3 gradient, native potato feed quantity is in optimum state, maintains current work
Speed is constant;When being in 4 gradient, native potato feed quantity is in the limit, it is possible to result in blockage, which is blocking perimeter strip
Part should realize reduction of speed by constantly reducing driving current.
With reference to Fig. 6 and Fig. 7, a kind of picker for tuber crops operating speed intelligence control system is to cropper operating speed
The method of adjustment, includes the following steps:
S1. when potato type harvesting machine operation, the initial picker for tuber crops speed of travel is first set；
S2. quantity sensor is fed by native potato and calculates practical soil potato feed quantity, switch to picker for tuber crops through gradient optimal method
The optimal driving current of the speed of travel, input signal r of the driving current as fuzzy adjusteri, roFor picker for tuber crops
The practical driving current of the speed of travel；
S3. fuzzy control subprogram is called, the final output after adjusting using fuzzy adjuster is just destined to potato
Practical driving current corresponding to cropper operating speed adjusts the speed of travel；
S4. when native potato feed quantity is in optimum state, parameter optimization is not needed, maintains current work speed constant;When native potato is fed
Enter amount and do not reach the stage upper limit, increases native potato feed quantity and convey load, realize speedup by being continuously increased driving current, make
The speed of travel changes the maximum value until the load stage;When native potato feed quantity reaches capacity, reduction driving current drops to realize
Speed；
In this step, while fuzzy controller according to harvest condition determines velocity coeffficient λ, is sent to native potato separator linear speed
The corresponding practical driving current of degree.
Finally, it should be noted that the foregoing is only a preferred embodiment of the present invention, it is not intended to restrict the invention,
Although the present invention is described in detail referring to the foregoing embodiments, for those skilled in the art, still may be used
To modify the technical solutions described in the foregoing embodiments or equivalent replacement of some of the technical features.
All within the spirits and principles of the present invention, any modification, equivalent replacement, improvement and so on should be included in of the invention
Within protection scope.
Claims (6)
1. a kind of picker for tuber crops operating speed adaptive control system, it is characterised in that:
Including signal acquisition module (4), Vehicle Controller (2), solenoid valve driving module (3) and monitor terminal (1),
Signal acquisition module (4) includes the sensor that each workpiece monitoring point on picker for tuber crops is arranged in, for acquiring
The job information of picker for tuber crops；
Monitor terminal (1), for being shown to picker for tuber crops operating parameter and operating status；
Vehicle Controller (2) is fuzzy adaptive controller, and the signal of signal acquisition module (4) acquisition passes through signal conditioning circuit
Vehicle Controller (2) are inputted after processing, by Model reference fuzzy adaptive control algorithm, Vehicle Controller (2) obtains potato
The knots modification of the cropper speed of travel and native potato separator linear velocity, Vehicle Controller (2) are believed according to knots modification output voltage
Number drive magnetic valve drive module (3) the adjustment machine speed of travel and native potato separator linear velocity, carry out harvest operation；
Signal acquisition module (4) connects Vehicle Controller (2) input terminal, and Vehicle Controller (2) output end connects solenoid-driven
Module (3) and monitor terminal (1), monitor terminal (1) connect Vehicle Controller (2) input terminal and output end.
2. picker for tuber crops operating speed adaptive control system as claimed in claim 1, it is characterized in that: signal acquisition mould
Block (4) includes the walking velocity sensor (11) for being mounted on picker for tuber crops walking mechanism, and it is hydraulic to be mounted on native potato separator
Separation velocity sensor (9) on motor and the near infrared light soil potato being mounted in native potato separator rack feeding quantity sensor
(13).
3. picker for tuber crops operating speed adaptive control system as claimed in claim 2, it is characterized in that: native potato separation dress
It sets linear velocity linear velocity and picker for tuber crops walking mechanism speed proportion relation is as follows, in formula, running gear speed is
Vp, separate transfer linear velocity are Vr, and λ is velocity coeffficient, and value is generally 0.8~2.5.
4. picker for tuber crops operating speed adaptive control system as claimed in claim 3, it is characterized in that: velocity coeffficient λ
Range is as follows: 0.8 ~ 1.07,1.07 ~ 1.42,1.42 ~ 1.88,1.88 ~ 2.50.
5. picker for tuber crops operating speed adaptive control system as claimed in claim 1, it is characterized in that: native potato feed quantity
It conveys load gradient and blocking boundary condition is as follows:
In formula, k1, k2, k3 are greater than zero constant, and have k1 >=k2, Q rQuantity sensor is fed for native potato to obtain currently existing
Line is averaged feed quantity, and unit is kg/s, QmaxFor the online native potato feed quantity of maximum of permission, unitary current gradient is Δ i, IrFor
Solenoid valve driving module corresponding to current work speed (3) electric current, InSolenoid valve driving module (3) is defeated by for subsequent time
Driving current, ImaxFor solenoid valve driving module (3) allow maximum drive current,
From formula it is found that when native potato feed quantity is in the 1st, 2 gradient, allow to increase native potato feed quantity conveying load, by not
It is disconnected to increase driving current to realize speedup;When being in 3 gradient, native potato feed quantity is in optimum state, maintains current work
Speed is constant;When being in 4 gradient, native potato feed quantity is in the limit, it is possible to result in blockage, which is blocking perimeter strip
Part should realize reduction of speed by constantly reducing driving current.
6. a kind of fast to harvest machine operation using picker for tuber crops operating speed adaptive control system described in claims 1
Spend the method for adjustment, characterized in that include the following steps:
S1. when potato type harvesting machine operation, the initial picker for tuber crops speed of travel is first set；
S2. quantity sensor is fed by native potato and calculates practical soil potato feed quantity, switch to picker for tuber crops through gradient optimal method
The optimal driving current of the speed of travel, input signal r of the driving current as fuzzy adjusteri, roFor picker for tuber crops
The practical driving current of the speed of travel；
S3. fuzzy control subprogram is called, the final output after adjusting using fuzzy adjuster is just destined to potato
Practical driving current corresponding to cropper operating speed adjusts the speed of travel；
S4. when native potato feed quantity is in optimum state, parameter optimization is not needed, maintains current work speed constant;When native potato is fed
Enter amount and do not reach the stage upper limit, increases native potato feed quantity and convey load, realize speedup by being continuously increased driving current, make
The speed of travel changes the maximum value until the load stage;When native potato feed quantity reaches capacity, reduction driving current drops to realize
Speed；
In this step, while fuzzy controller according to harvest condition determines velocity coeffficient λ, is sent to native potato separator linear speed
The corresponding practical driving current of degree.
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111279870A (en) * | 2020-03-29 | 2020-06-16 | 青岛农业大学 | Peanut harvester clamping and conveying hydraulic driving system and control method for preventing blockage |
| CN112392608A (en) * | 2020-12-03 | 2021-02-23 | 潍柴动力股份有限公司 | Control method, device and equipment of harvesting machine |
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