CN110741802B - Adaptive control device and method for cutting frequency of cutter and harvester - Google Patents
Adaptive control device and method for cutting frequency of cutter and harvester Download PDFInfo
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
- A01D41/1278—Control or measuring arrangements specially adapted for combines for automatic steering
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D41/00—Combines, i.e. harvesters or mowers combined with threshing devices
- A01D41/12—Details of combines
- A01D41/127—Control or measuring arrangements specially adapted for combines
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Abstract
The invention discloses a self-adaptive control device and a self-adaptive method for cutting frequency of a cutter and a harvester, wherein the control device comprises a control module, a cutting effect monitoring module, an execution module, a signal acquisition and conditioning module, a manual automatic switching module and a human-computer interaction module, wherein the cutting effect monitoring module, the execution module, the signal acquisition and conditioning module, the manual automatic switching module and the human-computer interaction module are in signal connection with the control module; the control method mainly adopts a composite control strategy of the rotating speed compensation and fuzzy control of the main shaft of the swing ring mechanism, utilizes a machine vision technology to monitor the cutting effect in real time, and designs a rotating speed compensator of the main shaft of the swing ring mechanism; in order to reduce the overshoot of the system and ensure the rapidity of the system, the control of the rotating speed of the main shaft of the swing ring mechanism is realized by utilizing a fuzzy control algorithm, and finally the control of the cutting frequency of the cutter is realized. The invention can realize the function of self-adaptive adjustment of cutting frequency, is beneficial to reducing the power consumption and vibration of the machine and the loss of the machine during grain harvesting, reduces the labor load of operators and is beneficial to the intelligent development of the combine harvester.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a self-adaptive control device and method for cutting frequency of a cutter and a harvester.
Background
Along with the continuous development of scientific technology, people put higher demands on the intelligence and the controllability of the combined harvester. The cutter is one of the necessary components of the combine harvester for harvesting the grains, the cutting frequency of the cutter cannot be changed, so that the repeated cutting of the grain stalks is easily caused when the frequency of the cutter is too fast, the power consumption of the machine is increased, the vibration is aggravated, the missing cutting is easily caused when the frequency is too low, and the grain harvesting loss is increased. Therefore, it is important to develop a cutter frequency adaptive device.
At present, researchers at home and abroad mainly optimize and transform the structure of the cutter of the combined harvester. In the prior art, a lower cutter is arranged below an upper cutter of a combine harvester, so that the missed grain is cut secondarily, and residual grains are removed. In the prior art, a hydraulic motor of a high-speed harvester is used for driving a cutter, the hydraulic motor is fixed on a mounting base, the hydraulic motor rotates to drive a connecting rod to move, and the connecting rod drives a blade to reciprocate to implement cutting operation. The research on the aspect of cutter frequency control mainly aims at theoretically researching a cutting pattern at present and is not applied to the actual cutter control.
Disclosure of Invention
Aiming at the problems in the aspect of cutter control, the invention provides a self-adaptive device and a self-adaptive method for the cutting frequency of a cutter and a harvester, and adopts the following technical scheme:
a cutter cutting frequency self-adaptive control method is characterized in that a swing ring mechanism main shaft rotating speed compensator carries out grading treatment on the number of short stalks and long stalks of crops which are missed to be cut, and the grading result is converted into a change quantity of the swing ring mechanism main shaft rotating speed to be used as a compensation quantity of the swing ring mechanism main shaft rotating speed; the controller calculates the acquired travel speed of the harvester by using a mathematical model of the travel speed of the harvester and the rotation speed of the main shaft of the swing ring mechanism to obtain a theoretical value of the rotation speed of the main shaft of the swing ring mechanism; adding or subtracting the theoretical value of the rotating speed of the main shaft of the swing ring mechanism and the compensation quantity of the rotating speed of the main shaft of the swing ring mechanism to obtain a target value of the rotating speed of the main shaft of the swing ring mechanism; and the target value of the rotating speed of the main shaft of the swing ring mechanism and the current value of the rotating speed of the main shaft of the swing ring mechanism are transmitted to a fuzzy controller to obtain a control value of the rotating speed of the main shaft of the swing ring mechanism, and the rotating speed of the main shaft of the swing ring mechanism is changed by the control value to control the cutting frequency of the cutter.
Further, the grading result of the number of the short stalks and the long stalks of the missed-cutting crops is as follows: too high a number of short stalks, low numbers of short and long stalks and too high a number of long stalks.
Further, the mathematical model of the advancing speed of the harvester and the rotating speed of the main shaft of the swing ring mechanism is as follows:
wherein: vmThe advancing speed of the harvester is S, the stroke of a cutting knife is S, and n is the rotating speed of a main shaft of the swing ring mechanism.
Further, the input quantity of the fuzzy controller is the rotating speed deviation e of the main shaft of the swing ring mechanism and the change rate of the rotating speed deviation
The output quantity is the rotating speed n of the main shaft of the swing ring mechanism.
Further, the obtaining process of the number of the short stalks and the long stalks of the missed-cutting crops is as follows: the cutting effect monitoring module collects a cutting effect picture of the cutter, carries out graying processing on the cutting effect picture, monitors an external contour and sets a length range, so that short stalks in the cutting effect picture and long stalks of missed-cutting crops are extracted, and the quantity of the short stalks and the long stalks of the missed-cutting crops is counted.
The utility model provides a cutterbar cutting frequency adaptive control device, including cutting effect monitoring module, a control module, execution module, signal acquisition and conditioning module and human-computer interaction module, cutting effect monitoring module gathers the cutting effect picture and gives control module for, control module and execution module, signal acquisition and conditioning module, the human-computer interaction module is signal connection, execution module controls the cutting frequency of cutterbar, signal acquisition and conditioning module acquire the rotational speed of swing ring mechanism main shaft and the speed of advancing of harvester, human-computer interaction module shows the classification result of short stalk and the long stalk quantity of missed-cutting crop, swing ring mechanism main shaft rotational speed, the speed of advancing and the settlement of initial parameter of harvester.
In the technical scheme, the cutting effect monitoring module comprises an industrial camera and a support, and the support fixes the industrial camera on a harvester chassis below the conveying groove.
In the technical scheme, the automatic switching device further comprises a manual automatic switching module, and the manual automatic switching module is connected with the controller.
A harvester comprises the cutter cutting frequency self-adaptive control device.
The invention has the beneficial effects that: the invention utilizes the machine vision technology as a monitoring means, and more intuitively displays the current cutting effect. The invention provides a composite control strategy of rotating speed compensation and fuzzy control of a main shaft of a swing ring mechanism, wherein a main shaft rotating speed compensator of the swing ring mechanism carries out grading treatment on the number of short stalks and long stalks of crops which are missed to be cut, and the grading result is converted into the change quantity of the rotating speed of the main shaft of the swing ring mechanism to be used as the compensation quantity of the rotating speed of the main shaft of the swing ring mechanism; the input quantity of the fuzzy controller is the rotating speed deviation e of the main shaft of the oscillating ring mechanism and the change rate of the rotating speed deviation
Output ofThe quantity is the rotating speed n of a main shaft of the swing ring mechanism; the occurrence of the re-cutting missing cutting phenomenon is reduced, the overshoot of the system is reduced, the rapidity of the system is ensured, and the self-adaptive control of the cutting frequency of the cutter is realized; the power consumption and the vibration of the harvester and the loss of the harvester during grain harvesting are reduced, the labor load of operators is reduced, and the intelligent development of the combine harvester is facilitated.
Drawings
FIG. 1 is a block diagram of a self-adaptive control device for cutting frequency of a cutter according to the present invention;
FIG. 2 is a composite control block diagram of the system of the present invention;
FIG. 3 is a schematic diagram of the installation position of the adaptive control device for the cutting frequency of the cutter according to the present invention, FIG. 3(a) is a schematic diagram of the installation of the adaptive control device for the cutting frequency of the cutter, and FIG. 3(b) is a detailed diagram of the installation of the adaptive control device for the cutting frequency of the cutter;
FIG. 4 is a diagram of a driving mechanism of the cutting knife of the present invention;
FIG. 5 is a schematic view of a reciprocating cutter mechanism of the present invention;
FIG. 6 is a flow chart of a process of a cutting effect graph according to the present invention;
FIG. 7 is a flowchart of a main process of the adaptive control device for the cutting frequency of the cutter according to the present invention;
FIG. 8 is a flowchart of an automatic control subroutine of the adaptive control device for cutting frequency of a cutter according to the present invention;
FIG. 9 is a human-machine interface of the adaptive control device for cutting frequency of the cutter according to the present invention.
In the figure: 1-cutter, 2-swing ring mechanism, 3-V-belt pulley, 4-hydraulic motor, 5-conveying trough, 6-industrial camera, 7-bracket, 8-harvester tire, 9-harvester chassis, 10-swing ring mechanism main shaft, 11-swing ring, 12-swing fork, 13-swing shaft, 14-swing arm, 15-guide rod, 16-movable cutter, 17-static cutter and 18-edge protector.
Detailed Description
The technical solution of the present invention will be further described with reference to the accompanying drawings, but the scope of the present invention is not limited thereto.
Example 1
As shown in fig. 1, a cutting frequency adaptive control device of a cutter comprises a cutting effect monitoring module, a control module (ARM controller), an execution module, a signal acquisition and conditioning module, a manual and automatic switching module and a human-computer interaction module, wherein the cutting effect monitoring module, the execution module, the signal acquisition and conditioning module and a human-computer interaction interface are in signal connection with the control module.
The cutting effect monitoring module is arranged between the conveying trough 5 and the harvester chassis 9, and comprises an industrial camera 6 and a bracket 7 (fig. 3(a) and (b)), wherein the industrial camera 6 is fixed on the harvester chassis 9 below the conveying trough 5 by the bracket 7, and the industrial camera 6 is 50cm away from the ground and is used for shooting the cutting effect of a cutter and transmitting a cutting effect picture to an ARM controller for further processing through a data transmission signal line; the specific picture acquisition frequency of the industrial camera is determined by experiments.
As shown in fig. 2, the execution module includes a signal amplifier, an electro-hydraulic proportional solenoid valve and a hydraulic motor, the signal amplifier amplifies the control signal output by the control module, controls the opening degree of the electro-hydraulic proportional solenoid valve, further controls the rotation speed of the hydraulic motor 4, and changes the rotation speed of the swing ring mechanism 2 through the belt pulley, so as to achieve the purpose of controlling the cutting frequency of the cutter 1. As shown in fig. 4, the swing ring mechanism 2 includes a swing ring mechanism main shaft 10, a swing ring 11, a swing fork 12, a swing shaft 13, a swing arm 14 and a guide rod 15, the swing ring mechanism main shaft 10 is connected with the v-belt pulley 3 through a belt, the swing ring mechanism main shaft 10 is connected with the swing ring 11 through a bearing, the swing ring 11 is sleeved on a slip ring of the swing fork 12, the swing shaft 13 is fixed on the swing fork 12, the swing shaft 13 fixes the swing arm 14, the swing arm 14 is connected with the guide rod 15 through a bearing, and the guide rod 15 is connected with the movable cutting knife 16 through a bearing. The movable cutting knife 16 and the static cutting knife 17 form a cutter 1, and the edge protector 18 is fixed on the header and used for protecting the movable cutting knife 16.
The manual-automatic switching module is integrated on the control handle, as shown in fig. 7, after the ARM controller is started, a program starts to initialize, data acquisition and processing are carried out, processed information is displayed on the touch display screen, then an electric signal is sent to a pin for controlling manual-automatic switching of the ARM controller through a key, and after the signal is identified and judged, manual or automatic control is executed, so that the purpose of manual-automatic switching is realized; manual intervention can be achieved by this module when the automatic mode program of the control device is faulty or manual operation is necessary.
The man-machine interaction module is a touch display screen, and a switch, a parameter adjusting key, a clock display, a three-color alarm LED lamp and a monitoring picture viewing interface are arranged on the touch display screen. As shown in fig. 9, the human-computer interaction interface uses a three-color alarm LED lamp to display the results obtained by the classification processing: when the number of the short stalks is too high, the LED lamp is displayed in red, when the number of the short stalks and the number of the long stalks is low, the LED lamp is displayed in green, when the number of the long stalks is too high, the LED lamp is displayed in yellow, and the current cutting effect is visually displayed; the current traveling speed, cutter frequency and time and date information of the harvester are displayed on the touch screen, and the setting of the cutter frequency initial parameters can be realized through the plus and minus keys.
A Hall rotating speed sensor is adopted to detect the rotating speed of a main shaft of the swing ring mechanism and the advancing speed information of the harvester, a signal acquisition and conditioning module utilizes a signal amplifying circuit and a filter circuit to amplify and filter the acquired signals, and finally the acquired signals are sent to an ARM development board to obtain the rotating speed of the main shaft of the swing ring and the advancing speed of the harvester.
The control module adopts an ARM controller, removes the background, cuts apart and discerns to the cutting effect picture, and specific process is: in the cutting effect diagram, the short straws and the long straws of the missed-cutting crops obtained by repeated cutting are yellow-green, the soil is brown, the remaining stubbles are brown, a color characteristic method is selected for graying treatment, the backgrounds such as the soil and the like are removed, and the short straws and the long straws of the missed-cutting crops are separated; the short long-strip-shaped short stalks, the long-strip-shaped missed-cutting crop stalks and the long and thin blades are reserved in the obtained gray level image, the external outline of the gray level image is checked, the hollow is filled in by filling white inside the outline, the morphological opening operation is carried out again, the boundaries of the long and thin blades, the small objects and the smooth large objects are eliminated, meanwhile, the areas of the short stalks and the missed-cutting crop long stalks are not obviously changed, finally, the short stalks and the missed-cutting crop long stalks in the cutting effect image are further extracted through setting the length range, and the quantity of the short stalks and the missed-cutting crop long stalks is counted. As shown in fig. 6.
The control module adopts a composite control strategy of swing ring mechanism main shaft rotation speed compensation and fuzzy control to realize that the frequency of the cutter is changed in a self-adaptive way along with the advancing speed of the harvester.
Design main shaft rotation speed compensator of swing ring mechanism
The swing ring mechanism main shaft rotating speed compensator carries out classification treatment according to the short stalks and the long stalks obtained by the cutting effect monitoring module, threshold value parameters of overhigh short stalk quantity, low short stalk quantity and long stalk quantity and overhigh long stalk quantity are set in advance by the swing ring mechanism main shaft rotating speed compensator and are used for classifying the input short stalks and overlooked long stalks, and classification results comprise three types of overhigh short stalk quantity, low short stalk quantity and long stalk quantity and overhigh long stalk quantity and are displayed through a three-color alarm LED lamp; when the number of the short stalks is too high, the frequency of the cutter is too high, so that the power consumption and the vibration of the machine are aggravated, and the rotating speed of a main shaft of the swing ring mechanism is reduced; on the contrary, when the number of the long stalks is too high, the missing cutting phenomenon of the grains is increased, the harvesting loss of the grains is increased, and the rotating speed of the main shaft of the swing ring mechanism is required to be increased; the short stalks and the long stalks are low in quantity, so that the re-cutting and missing-cutting phenomena are well restrained, the power consumption of the machine is reduced, and the vibration is improved. As shown in fig. 2, the multi-branch selection structure is used to take the results of the graded processing of the spindle speed compensator of the wobble mechanism as conditions, and query a constant value under the corresponding conditions, where the constant value is the spindle speed variation of the wobble mechanism and is transmitted to the first-stage comparison point as a compensation amount. The threshold parameters used for classification and the above constant values are determined empirically or experimentally.
The multi-branch selection structure process: firstly, the number of short stalks and long stalks of crops which are missed to be cut is graded by using a main shaft rotating speed compensator of a swing ring mechanism, a shaping variable level is defined for storing the graded result, and the preferable values are 1, 2 and 3, wherein 1 represents that the number of the short stalks is too high, 2 represents that the number of the short stalks and the long stalks is low, and 3 represents that the number of the long stalks is too high (a and b are positive integers, and the specific numerical value is determined through experience or experiments).
| Results of the grading treatment | Spindle rotation speed compensation of swing ring mechanism |
| 1 | -a |
| 2 | 0 |
| 3 | b |
Secondly, establishing a mathematical model of the advancing speed of the harvester and the rotating speed of a main shaft of the swing ring mechanism, wherein the relation between the speed of the cutter and the advancing speed of the harvester can be represented by a feed distance, and the feed distance is the advancing distance of the harvester within the time of completing one stroke of the cutter:
in the formula: vmThe advancing speed of the harvester is m/s; n is the rotating speed of the main shaft of the swing ring mechanism, r/min; omega is the angular speed of the main shaft of the swing ring mechanism, rad/s.
The relationship between cutter speed and harvester advance speed can also be expressed in terms of the cutting speed ratio λ:
in the formula: vaIs the average cutter speed, m/s; s is the stroke of a cutting knife m.
Combining the formulas (1) and (2) to obtain:
the cutting speed ratio lambda generally ranges from (0.8-1.4), and the value can be properly reduced along with the increase of the machine speed, and the lambda is 1 in the model; finishing the formula (3) to obtain:
the mathematical model expression of the change of the rotating speed of the main shaft of the swing ring mechanism along with the advancing speed of the harvester is established.
Thirdly, designing a fuzzy controller to realize the control of the rotating speed of the main shaft of the swing ring mechanism
The fuzzy algorithm has the advantages of strong anti-interference capability, high response speed, strong robustness to the change of system parameters and good fault tolerance. The input quantity of the fuzzy controller selects the rotation speed deviation e of the main shaft of the oscillating ring mechanism and the change rate of the rotation speed deviation
The output quantity is selected from the rotating speed n of a main shaft of the swing ring mechanism.
The advancing speed of the harvester is (0.5, 2.0) m/s, the cutting knife stroke is 0.07m, and the rotating speed range of the main shaft of the swing ring mechanism is (214, 857) r/min according to a formula (4). The variation range of the rotating speed deviation e of the main shaft of the swing ring mechanism is set to be (-30r/min to +30r/min), wherein the deviation range of the positive interval of the rotating speed of the main shaft of the swing ring mechanism does not participate in the calculation of the fuzzy control algorithm; rate of change of spindle speed deviation of wobble ring mechanism
The lower limit is set as-10 (r/min)/s, and the variation range is set as (-10(r/min)/s to +10 (r/min)/s); the variation range of the output n of the fuzzy controller is set as (-3 to +3) r/min. The argument domains of the input variable and the output variable of the fuzzy controller defined on the fuzzy set are respectively E,
U, the value ranges are all set as [ -3, 3]。
The fuzzy control rule for adjusting the rotating speed of the main shaft of the swing ring mechanism is as follows: (1) rate of change of spindle speed deviation of wobble ring mechanism
When the output quantity | n | of the fuzzy controller is larger, the deviation e is reduced as soon as possible; (2) rate of change of spindle speed deviation of wobble ring mechanism
In the middle and the like, the output | n | of the fuzzy controller takes a smaller value, so that the overshoot phenomenon of the system is reduced; (3) rate of change of spindle speed deviation of wobble ring mechanism
When the output quantity | n | of the fuzzy controller is smaller, the steady-state error is reduced, and the stability of the system is kept. And finally realizing the fuzzy control of the frequency of the cutter by formulating a fuzzy control rule.
As shown in fig. 8, the ARM controller collects the advancing speed of the harvester and the rotating speed signal of the main shaft of the swing ring mechanism in real time while monitoring the cutting effect, calculates a theoretical value of the rotating speed of the main shaft of the swing ring mechanism by using a formula (4) after the advancing speed signal of the harvester is collected, and performs addition and subtraction operation on the theoretical value and the rotating speed compensation quantity of the swing ring mechanism output by the rotating speed compensator of the swing ring mechanism to obtain a target value of the rotating speed of the main shaft of the swing ring mechanism; and transmitting the target value of the rotating speed of the main shaft of the swing ring mechanism and the current value of the rotating speed of the main shaft of the swing ring mechanism, which is acquired by the rotating speed sensor in real time, to a fuzzy controller, and performing fuzzification, fuzzy rule reasoning and defuzzification operation to finally obtain the control value of the rotating speed of the main shaft of the swing ring mechanism. The control value signal is amplified and processed to control the opening of the electromagnetic valve, so as to control the rotating speed of the hydraulic motor, and the rotating speed of the main shaft 10 of the swing ring mechanism is changed through the V-belt pulley 3, so that the purpose of controlling the cutting frequency of the cutter is finally achieved.
Example 2
A harvester, comprising the adaptive control device for cutting frequency of a cutter in embodiment 1, wherein the structure and beneficial effects of the adaptive control device for cutting frequency of a cutter are as described in embodiment 1, and are not repeated herein.
The above embodiments are only used for illustrating the design idea and features of the present invention, and the purpose of the present invention is to enable those skilled in the art to understand the content of the present invention and implement the present invention accordingly, and the protection scope of the present invention is not limited to the above embodiments. Therefore, all equivalent changes and modifications made in accordance with the principles and concepts disclosed herein are intended to be included within the scope of the present invention.
Claims (9)
1. A self-adaptive control method for cutting frequency of a cutter is characterized in that: the main shaft rotating speed compensator of the swing ring mechanism carries out grading treatment on the number of short stalks and long stalks of crops which are missed to be cut, and converts the grading result into the change quantity of the main shaft rotating speed of the swing ring mechanism, which is used as the compensation quantity of the main shaft rotating speed of the swing ring mechanism; the controller calculates the acquired travel speed of the harvester by using a mathematical model of the travel speed of the harvester and the rotation speed of the main shaft of the swing ring mechanism to obtain a theoretical value of the rotation speed of the main shaft of the swing ring mechanism; adding or subtracting the theoretical value of the rotating speed of the main shaft of the swing ring mechanism and the compensation quantity of the rotating speed of the main shaft of the swing ring mechanism to obtain a target value of the rotating speed of the main shaft of the swing ring mechanism; and the target value of the rotating speed of the main shaft of the swing ring mechanism and the current value of the rotating speed of the main shaft of the swing ring mechanism are transmitted to a fuzzy controller to obtain a control value of the rotating speed of the main shaft of the swing ring mechanism, and the rotating speed of the main shaft of the swing ring mechanism is changed by the control value to control the cutting frequency of the cutter.
2. The adaptive control method for cutting frequency of a cutter as claimed in claim 1, wherein: the grading result of the number of the short stalks and the long stalks of the missed-cutting crops is as follows: too high a number of short stalks, low numbers of short and long stalks and too high a number of long stalks.
3. The adaptive control method for cutting frequency of a cutter as claimed in claim 1, wherein: the mathematical model of the advancing speed of the harvester and the rotating speed of the main shaft of the swing ring mechanism is as follows:
wherein: vmThe advancing speed of the harvester is S, the stroke of a cutting knife is S, and n is the rotating speed of a main shaft of the swing ring mechanism.
4. The adaptive control method for cutting frequency of a cutter as claimed in claim 1, wherein: the input quantity of the fuzzy controller is the rotating speed deviation e of the main shaft of the oscillating ring mechanism and the change rate of the rotating speed deviation
The output quantity is the rotating speed n of the main shaft of the swing ring mechanism.
5. The adaptive control method for cutting frequency of a cutter as claimed in claim 1, wherein: the acquisition process of the number of the short stalks and the long stalks of the missed-cutting crops comprises the following steps: the cutting effect monitoring module collects a cutting effect picture of the cutter, carries out graying processing on the cutting effect picture, monitors an external contour and sets a length range, so that short stalks in the cutting effect picture and long stalks of missed-cutting crops are extracted, and the quantity of the short stalks and the long stalks of the missed-cutting crops is counted.
6. An adaptive control device for the cutting frequency of a cutter is characterized in that: the cutting effect monitoring module collects a cutting effect graph and transmits the cutting effect graph to the control module, the execution module, the signal collecting and conditioning module and the human-computer interaction module are in signal connection, the execution module controls the cutting frequency of a cutter, the signal collecting and conditioning module obtains the rotating speed of a main shaft of the swing ring mechanism and the advancing speed of the harvester, and the human-computer interaction module displays the grading result of the number of the short stalks and the long stalks of the missed-cutting crops, the rotating speed of the main shaft of the swing ring mechanism, the advancing speed of the harvester and the setting of initial parameters;
the control module collects the advancing speed of the harvester and the rotating speed of the main shaft of the swing ring mechanism in real time, calculates to obtain a theoretical value of the rotating speed of the main shaft of the swing ring mechanism, performs addition and subtraction operation on the theoretical value and the rotating speed compensation quantity of the swing ring mechanism to obtain a target value of the rotating speed of the main shaft of the swing ring mechanism, transmits the target value of the rotating speed of the main shaft of the swing ring mechanism and the current value of the rotating speed of the main shaft of the swing ring mechanism to the fuzzy controller, and performs fuzzification, fuzzy rule reasoning and defuzzification to obtain a control value of the rotating speed of the main shaft of the swing ring mechanism.
7. The adaptive control device for cutting frequency of a cutter as claimed in claim 6, wherein: the cutting effect monitoring module comprises an industrial camera (6) and a support (7), wherein the industrial camera (6) is fixed on a harvester chassis (9) below the conveying groove (5) by the support (7).
8. The adaptive control device for cutting frequency of a cutter as claimed in claim 6, wherein: the automatic switching device further comprises a manual automatic switching module, and the manual automatic switching module is connected with the controller.
9. A harvester, characterized in that: comprising the cutter cutting frequency adaptive control apparatus as claimed in any one of claims 6 to 8.
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| CN112606083B (en) * | 2020-11-04 | 2021-11-02 | 台州明创科技有限公司 | Frequency regulation and control system and method adopting type detection |
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| BR112014025168B1 (en) * | 2012-04-09 | 2017-03-28 | Cnh Latin America Ltda | cutting system for harvester machines and harvester |
| CN104686079A (en) * | 2013-12-09 | 2015-06-10 | 刘晶 | Cutting platform height automatic control system based on electro-hydraulic control |
| CN108508754A (en) * | 2018-06-11 | 2018-09-07 | 江苏大学 | A kind of Combine Cutter cutting frequency self-checking device and Automatic adjustment method |
| CN109937685B (en) * | 2019-02-21 | 2024-06-07 | 江苏大学 | Control device and control method for operation parameters of combine harvester header |
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2019
- 2019-09-25 CN CN201910910094.9A patent/CN110741802B/en active Active
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