CN110865631B - CAN bus-based intelligent control test platform for multifunctional corn harvester - Google Patents
CAN bus-based intelligent control test platform for multifunctional corn harvester Download PDFInfo
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- CN110865631B CN110865631B CN201911192090.8A CN201911192090A CN110865631B CN 110865631 B CN110865631 B CN 110865631B CN 201911192090 A CN201911192090 A CN 201911192090A CN 110865631 B CN110865631 B CN 110865631B
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Abstract
The invention relates to a CAN bus-based intelligent control test platform of a corn harvester, which comprises a test bed main body, a parameter display setting panel, a whole vehicle controller, a harvesting controller, a demonstration panel, a test bed operation module, a simulation execution mechanism and a measurement transmitting device, wherein the parameter display setting panel, the whole vehicle controller, the harvesting controller, the demonstration panel, the test bed operation module, the simulation execution mechanism and the measurement transmitting device are arranged on the test bed main body; the parameter display setting panel, the whole vehicle controller and the harvesting controller are connected through a CAN bus; the harvesting controller receives and stores a control module of a corn harvester control system to be simulated and debugged, and sends a control instruction to the whole vehicle controller according to the harvesting parameters and the control module set by the parameter display setting panel to perform automatic simulation adjustment on the harvesting process; the test bed operation module is connected with an input port of the whole vehicle controller; a simulation diagram of the corn harvester is drawn on the demonstration panel; the simulation execution mechanism comprises a plurality of simulation execution components which are respectively connected with the output port of the whole vehicle controller; the measuring and transmitting device collects data signals of the analog execution components.
Description
Technical Field
The invention belongs to the field of agricultural automation, and particularly relates to a corn harvester intelligent control test platform based on a CAN bus.
Background
At present, the machine yield of corn in China is still at a lower level compared with that of rice and wheat, the corn harvesting is completely dependent on manpower in partial areas, and the technology of the existing corn harvesting machine in the aspects of automatic adjustment and automatic control is relatively laggard. The development of the domestic corn harvester needs to absorb the development direction of the foreign corn harvester for reference, and the CAN bus communication technology and the automatic adjustment and control technology in the harvesting process are increasingly equipped in the control system of the domestic corn harvester by combining the actual situation of domestic corn, so that the corn harvester control system suitable for the domestic situation is developed.
The field test of the corn harvester control system needs to be carried out on the corn harvester, the work content is complicated, and the test period is long. Because the corns are mainly distributed in the northeast, the north China and the southwest, the corns can be planted only once in a year in most areas, the harvesting time is short, and the field test is easily influenced by natural conditions and field conditions. The indoor test platform of the corn harvester control system is almost not limited by seasons and places when debugging tests are carried out, the development period of the corn harvester control system can be shortened, an experimental basis is provided for the research of the corn harvester control system, and the indoor test platform has important significance for improving the operation quality of the corn harvester, reducing the ear picking loss, the threshing loss, the cleaning loss and the like.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a CAN bus-based intelligent control test platform of a corn harvester for indoor debugging of a corn harvester control system.
In order to achieve the purpose, the invention provides the following technical scheme:
the utility model provides a maize picker intelligent control test platform based on CAN bus for indoor simulation debugging to maize picker control system, test platform includes test bench main part 5 to and the parameter display who sets up on test bench main part 5 sets up panel 2, vehicle control unit 3, results controller 4, demonstration panel 6, test bench operating module 7, simulation actuating mechanism 29 and measurement transducer 28.
The parameter display setting panel 2, the whole vehicle controller 3 and the harvesting controller 4 are connected through a CAN bus.
The harvesting controller 4 can receive and store a control module of a corn harvester control system to be simulated and debugged, and sends a control instruction to the whole vehicle controller 3 according to the harvesting parameters and the control module set by the parameter display setting panel 2, so as to perform automatic simulation adjustment on the harvesting process; the harvesting parameters comprise parameters of a corn field to be harvested and working parameters of an engine; wherein the corn field parameters to be harvested comprise the acre yield of the corn field, the plant spacing, the diameter of the stems, the soil moisture, the moisture content of seeds and the moisture content of the stems; the engine working parameters comprise swath, engine rotating speed and engine working power.
The test bed operation module 7 comprises a plurality of operation keys 12 and a plurality of operation knobs 13; the operation keys 12 and the operation knobs 13 are connected with an input port of the vehicle control unit 3 and used for inputting manual control instructions.
The demonstration panel 6 is drawn with a corn harvester simulation diagram, and wheels, a header, a stalk pulling roller, a concave plate, a fan and a vibrating screen in the corn harvester simulation diagram are simulation wheels, a simulation header, a simulation stalk pulling roller, a simulation concave plate, a simulation fan and a simulation vibrating screen which can be dynamically demonstrated.
The simulation executing mechanism 29 includes a plurality of simulation executing components respectively connected to the output port of the vehicle control unit 3, and the simulation executing components respectively include: the device comprises a vehicle speed simulation adjusting motor 16 connected with a simulation wheel, a header height simulation adjusting steering engine 15 connected with a simulation header, a stem drawing roller rotating speed simulation adjusting motor 27 connected with a simulation stem drawing roller, a roller rotating speed simulation adjusting motor 21 connected with a simulation roller, a concave plate gap simulation adjusting steering engine 18 connected with a simulation concave plate, a fan rotating speed simulation adjusting motor 25 connected with a simulation fan and a vibrating screen opening simulation adjusting steering engine 23 connected with a simulation vibrating screen.
The vehicle control unit 3 converts the corresponding relationship between the control components and the execution components of the actual harvester into the corresponding relationship between the operation keys 12 and the operation knobs 13 and the simulation execution components of the simulation execution mechanism 29.
The measurement transmitting device 28 collects data signals of each simulation executive component of the simulation executive mechanism 29, the measurement transmitting device 28 is connected with an input port of the harvesting controller 4, and the collected data signals are transmitted to the harvesting controller 4; the harvest controller 4 processes the data signals, converts the data signals into parameters of the simulation executive components of the corresponding simulation executive mechanism 29, and sends the parameters to the parameter display setting panel 2 for display.
The measuring and transmitting device 28 comprises a vehicle speed sensor 17, a header height sensor 14, a stalk-pulling roller rotating speed sensor 26, a roller rotating speed sensor 20, a fan rotating speed sensor 24, a concave plate gap sensor 19 and a vibrating screen opening sensor 22.
The vehicle speed sensor 17 is arranged on a power output shaft of the vehicle speed analog regulating motor 16 and is used for detecting the rotating speed of the vehicle speed analog regulating motor 16.
The stem-drawing roller speed sensor 26 is arranged on a power output shaft of the stem-drawing roller speed analog regulating motor 27 and is used for detecting the rotating speed of the stem-drawing roller speed analog regulating motor 27.
The drum speed sensor 20 is arranged on a power output shaft of the drum speed analog regulating motor 21 and is used for detecting the rotating speed of the drum speed analog regulating motor 21.
The fan rotating speed sensor 24 is arranged on a power output shaft of the fan rotating speed analog regulating motor 25 and used for detecting the rotating speed of the fan rotating speed analog regulating motor 25.
The concave plate gap sensor 19 is arranged on a steering engine rotating shaft of the concave plate gap simulation adjusting steering engine 18 and used for detecting the rotating angle of the concave plate gap simulation adjusting steering engine 18 and further converting the rotating angle into a concave plate gap.
The vibrating screen opening degree sensor 22 is arranged on a steering engine rotating shaft of the vibrating screen opening degree simulation adjusting steering engine 23 and used for detecting the rotating angle of the vibrating screen opening degree simulation adjusting steering engine 23 and converting the rotating angle into the vibrating screen opening degree.
The vehicle control unit 3 calculates the power sum of the speed simulation adjusting motor 16, the stem-pulling roller rotating speed simulation adjusting motor 27, the roller rotating speed simulation adjusting motor 21 and the fan rotating speed simulation adjusting motor 25, compares the power sum with the working power of the engine set by the parameter setting panel 2, and stops the test platform if the power sum is larger than the working power of the engine; otherwise, the test platform continues to run.
The vehicle control unit 3 calculates the traveling resistance coefficient and the vehicle slip rate of the harvester relative to the normal road surface by combining the response time of the traveling proportional solenoid valve to the instruction of the real vehicle control handle when the actual harvester is in no-load traveling on the normal road surface and the corresponding relation between the position of the control handle and the vehicle speed by combining the soil moisture set by the parameter display setting panel 2, corrects the corresponding relation between the position of the control handle and the vehicle speed according to the traveling resistance coefficient, the vehicle slip rate and the engine speed set by the parameter display setting panel 2, and converts the corrected corresponding relation into the corresponding relation between the rotating position of the vehicle speed adjusting knob.
The influence of the walking resistance coefficient, the vehicle slip rate and the engine speed on the corresponding relation between the position of the vehicle speed adjusting knob and the speed of the vehicle speed analog adjusting motor 16 is as follows: the larger the walking resistance coefficient and the vehicle slip ratio are, the slower the rotation speed of the vehicle speed simulation adjusting motor 16 changes along with the position of the vehicle speed adjusting knob; the faster the engine speed, the faster the speed of the vehicle speed analog adjustment motor 16 changes with the vehicle speed adjustment knob position.
The vehicle control unit 3 fits the corresponding relation between the power-on time of the stalk-pulling roller proportional electromagnetic valve and the rotating speed of the stalk-pulling roller hydraulic motor when the actual harvester is in no-load into a linear relation, then calculates the stalk-pulling roller load by combining the set plant spacing, the stalk diameter, the stalk water content and the rotating speed of the vehicle speed analog regulating motor 16, corrects the fitted linear relation according to the stalk-pulling roller load, and converts the corrected linear relation into the corresponding relation between the power-on time of the stalk-pulling roller rotating speed regulating key of the operation key 12 and the rotating speed of the stalk-pulling roller rotating speed analog regulating motor 27.
The influence relationship of the power-on time of the stem-pulling roller rotating speed adjusting key by the stem-pulling roller load and the change of the stem-pulling roller rotating speed is as follows: the larger the load of the stalk-pulling roll is, the smaller the change of the rotating speed of the stalk-pulling roll is under the same power-on time of the rotating speed adjusting key of the stalk-pulling roll.
The vehicle control unit 3 fits the corresponding relation between the power-on time of the roller rotating speed regulating motor and the rotating speed of the roller when the actual harvester is in no-load into a linear relation, calculates the feeding amount according to the corn field acre yield, the seed water content, the cutting width and the rotating speed of the vehicle speed simulation regulating motor 16 set by the parameter display setting panel 2, corrects the linear relation according to the feeding amount, and converts the corrected linear relation into the corresponding relation between the power-on time of the roller rotating speed regulating key of the operation key 12 and the rotating speed of the roller rotating speed simulation regulating motor 21.
The influence of the rotation speed of the motor 16 for simulating and adjusting the corn field acre yield, the seed water content, the cutting width and the speed on the feeding amount is as follows: the higher the corn field yield, the larger the water content of the grains, the wider the cutting width, and the faster the rotation speed of the vehicle speed simulation adjusting motor 16, the larger the feeding amount.
The relation between the power-on time of the feeding amount to the roller rotating speed adjusting key and the roller rotating speed change is as follows: the larger the feeding amount is, the slower the change of the rotating speed of the roller is under the same power-on time of the roller rotating speed adjusting key.
The vehicle control unit 3 fits the correspondence between the power-on time of the actual fan proportional solenoid valve and the fan rotation speed to a linear relationship, and converts the linear relationship into the correspondence between the fan rotation speed adjusting knob position of the operation knob 13 and the rotation speed of the fan rotation speed analog adjusting motor 25.
The whole vehicle controller 3 simulates the lifting of the header by fitting the power-on time of the actual header proportional electromagnetic valve and the header height change curve into a linear relation and converting the linear relation into the power-on time of the header height control key of the operation key 12 and the rotation angle of the header height simulation adjusting steering engine 15.
The vehicle control unit 3 fits the actual power-on time of the concave board gap adjusting motor and the concave board gap change curve into a linear relation, and converts the linear relation into the power-on time of the concave board gap adjusting key of the operation key 12 and the rotation angle of the concave board gap simulation adjusting steering engine 18, so that the change of the concave board gap is simulated.
The vehicle control unit 3 converts the corresponding relation between the power-on time of the actual vibrating screen adjusting power push rod and the opening angle of the vibrating screen into the power-on time of the vibrating screen adjusting key of the operation key 12 and the rotating angle of the vibrating screen opening degree simulation adjusting steering engine 23, and simulates the change of the opening degree of the vibrating screen.
Compared with the prior art, the invention has the beneficial effects that:
1. the test platform provided by the invention realizes indoor adjustment of the corn harvester control system, the indoor test platform of the corn harvester control system is almost not limited by seasons and places when debugging tests are carried out, the development period of the corn harvester control system can be shortened, an experimental basis is provided for the research of the corn harvester control system, and the test platform has important significance for improving the operation quality of the corn harvester, reducing the ear picking loss, the threshing loss, the cleaning loss and the like.
2. The control system of the invention adopts the CAN bus integration technology, thereby ensuring the real-time performance and the reliability of the information transmission of the control system.
Drawings
FIG. 1 is a schematic structural diagram of a CAN bus-based intelligent control test platform of a corn harvester;
FIG. 2 is a schematic view of a demonstration panel 6 of the present invention;
FIG. 3 is a system network topology diagram of the test platform of the present invention;
FIG. 4 is a control flow chart of the test platform of the present invention.
Wherein the reference numerals are:
2 parameter display sets up panel 3 vehicle control unit
4 harvest controller 5 test bed main body
6 demonstration panel 7 test bed operation module
8 storage drawer 9 storage cabinet
10 universal wheel 11 directional wheel
12 operation key 13 operation knob
14 header height sensor 15 header height analog adjustment steering wheel
16 speed analog regulating motor 17 speed sensor
18 concave plate gap simulation adjusting steering engine 19 concave plate gap sensor
20 roller speed sensor 21 roller speed analog regulating motor
Opening degree simulation adjusting steering engine of 22 vibrating screen opening degree sensor 23 vibrating screen
24 fan speed sensor 25 fan speed simulation regulating motor
26 stem-pulling roller speed sensor 27 stem-pulling roller speed analog regulating motor
28 measuring and transmitting device 29 simulation actuator
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The invention simulates the corn harvester with a longitudinal axial flow type seed harvester, and a control module of a corn harvester control system comprises: the device comprises a walking control module, a header control module, a threshing control module and a cleaning control module.
The walking control module is responsible for controlling the walking speed of the whole vehicle, the engine transmits power to the hydraulic pump, the opening degree of the walking proportional electromagnetic valve is changed through the position of the control handle on the armrest box to control the rotating speed of the walking hydraulic motor, and the power is transmitted to the wheels through the speed reducer to control the whole vehicle to walk.
The header control module is responsible for threshing corn ears from corn plants and sending the corn ears to a threshing cylinder through a bridge, and comprises header height control and stem-pulling roller rotating speed control, wherein the header height control is realized by changing the opening degree of a header proportional solenoid valve to control the extending length of a header hydraulic cylinder, and the stem-pulling roller rotating speed control is realized by changing the rotating speed of a stem-pulling roller hydraulic motor through a stem-pulling roller proportional solenoid valve.
The threshing control module is responsible for threshing the corn ears conveyed to the threshing cylinder by the header, and comprises threshing cylinder rotating speed control and concave plate gap control, the threshing cylinder rotating speed control regulates and controls the length of the power-on time of the motor through controlling the rotating speed of the cylinder to change the transmission ratio of the stepless speed change device, so that the control of the rotating speed of the cylinder is realized, and the concave plate gap control regulates the length of the power-on time of the motor through controlling the concave plate gap.
The cleaning control module is responsible for screening the threshed grains and removing impurities in the grains, and comprises a vibrating screen opening degree control device and a fan rotating speed control device, wherein the vibrating screen opening degree control device adjusts the power-on time length control of the electric push rod by controlling the vibrating screen, and the fan rotating speed control device changes the oil inlet amount of a fan hydraulic motor to realize the control of the fan rotating speed by changing the opening degree of a fan proportional electromagnetic valve.
The utility model provides a maize picker intelligent control test platform based on CAN bus, mainly used carries out the simulation debugging to maize picker control system indoor, sets for through the simulation to the results parameter of results in-process, breaks away from the influence of environment and harvest season to maize picker control system debugging for maize picker control system's research and development process.
As shown in fig. 1, the test platform includes a test bed main body 5, and a parameter display setting panel 2, a vehicle control unit 3, a harvest controller 4, a demonstration panel 6, a test bed operation module 7, a simulation execution mechanism 29 and a measurement transmission device 28 which are arranged on the test bed main body 5.
The parameter display setting panel 2 is connected with the whole vehicle controller 3 and the harvesting controller 4 through a CAN bus and used for displaying and setting harvesting parameters, so that testing personnel CAN check the conditions of the corn harvester conveniently and handle faults in time, and man-machine interaction is realized.
The harvesting parameters comprise parameters of a corn field to be harvested and working parameters of an engine; wherein the corn field parameters to be harvested comprise the acre yield of the corn field, the plant spacing, the diameter of the stems, the soil moisture, the moisture content of seeds, the moisture content of the stems and the like; the engine working parameters comprise swath, engine rotating speed, engine working power and the like.
The harvesting controller 4 can receive and store a control module of a corn harvester control system to be simulated and debugged, and sends a control instruction to the whole vehicle controller 3 according to the harvesting parameters and the control module set by the parameter display setting panel 2, so as to perform automatic simulation adjustment on the harvesting process.
The test bed operating module 7 comprises a plurality of operating keys 12 and a plurality of operating knobs 13. The operation keys 12 and the operation knobs 13 are connected with an input port of the vehicle control unit 3 and used for inputting manual control instructions.
As shown in fig. 2, a simulation diagram of the corn harvester is drawn on the demonstration panel 6, and wheels, a header, a stalk-pulling roller, a concave plate, a fan and a vibrating screen in the simulation diagram of the corn harvester are simulation wheels, a simulation header, a simulation stalk-pulling roller, a simulation concave plate, a simulation fan and a simulation vibrating screen which can be dynamically demonstrated.
The measurement transmitting device 28 collects data signals of each simulation executive component of the simulation executive mechanism 29, the measurement transmitting device 28 is connected with an input port of the harvesting controller 4, and the collected data signals are transmitted to the harvesting controller 4; the harvest controller 4 processes the data signals, converts the data signals into parameters of the simulation executive components of the corresponding simulation executive mechanism 29, and sends the parameters to the parameter display setting panel 2 for display.
As shown in fig. 2 and 3, the analog actuator 29 includes a plurality of analog actuators respectively connected to the output ports of the vehicle controller 3, and each of the analog actuators is: the device comprises a vehicle speed simulation adjusting motor 16 connected with a simulation wheel, a header height simulation adjusting steering engine 15 connected with a simulation header, a stem drawing roller rotating speed simulation adjusting motor 27 connected with a simulation stem drawing roller, a roller rotating speed simulation adjusting motor 21 connected with a simulation roller, a concave plate gap simulation adjusting steering engine 18 connected with a simulation concave plate, a fan rotating speed simulation adjusting motor 25 connected with a simulation fan and a vibrating screen opening simulation adjusting steering engine 23 connected with a simulation vibrating screen.
The vehicle control unit 3 converts the corresponding relationship between the control components and the execution components of the actual harvester into the corresponding relationship between the operation keys 12 and the operation knobs 13 and the simulation execution components of the simulation execution mechanism 29.
The vehicle control unit 3 calculates the power sum of the speed simulation adjusting motor 16, the stem-pulling roller rotating speed simulation adjusting motor 27, the roller rotating speed simulation adjusting motor 21 and the fan rotating speed simulation adjusting motor 25, compares the power sum with the working power of the engine set by the parameter setting panel 2, and stops the test platform if the power sum is larger than the working power of the engine; otherwise, the test platform continues to run.
The vehicle control unit 3 calculates the traveling resistance coefficient and the vehicle slip rate of the harvester relative to the normal road surface by combining the response time of the traveling proportional solenoid valve to the instruction of the real vehicle control handle when the actual harvester is in no-load traveling on the normal road surface and the corresponding relation between the position of the control handle and the vehicle speed by combining the soil moisture set by the parameter display setting panel 2, corrects the corresponding relation between the position of the control handle and the vehicle speed according to the traveling resistance coefficient, the vehicle slip rate and the engine speed set by the parameter display setting panel 2, and converts the corrected corresponding relation into the corresponding relation between the rotating position of the vehicle speed adjusting knob.
The influence of the walking resistance coefficient, the vehicle slip rate and the engine speed on the corresponding relation between the position of the vehicle speed adjusting knob and the speed of the vehicle speed analog adjusting motor 16 is as follows: the larger the walking resistance coefficient and the vehicle slip ratio are, the slower the rotation speed of the vehicle speed simulation adjusting motor 16 changes along with the position of the vehicle speed adjusting knob; the faster the engine speed, the faster the speed of the vehicle speed analog adjustment motor 16 changes with the vehicle speed adjustment knob position.
The vehicle control unit 3 fits the corresponding relation between the power-on time of the stalk-pulling roller proportional electromagnetic valve and the rotating speed of the stalk-pulling roller hydraulic motor when the actual harvester is in no-load into a linear relation, then calculates the stalk-pulling roller load by combining the set plant spacing, the stalk diameter, the stalk water content and the rotating speed of the vehicle speed analog regulating motor 16, corrects the fitted linear relation according to the stalk-pulling roller load, and converts the corrected linear relation into the corresponding relation between the power-on time of the stalk-pulling roller rotating speed regulating key of the operation key 12 and the rotating speed of the stalk-pulling roller rotating speed analog regulating motor 27.
The influence relationship of the power-on time of the stem-pulling roller rotating speed adjusting key by the stem-pulling roller load and the change of the stem-pulling roller rotating speed is as follows: the larger the load of the stalk-pulling roll is, the smaller the change of the rotating speed of the stalk-pulling roll is under the same power-on time of the rotating speed adjusting key of the stalk-pulling roll.
The vehicle control unit 3 fits the corresponding relation between the power-on time of the roller rotating speed regulating motor and the rotating speed of the roller when the actual harvester is in no-load into a linear relation, calculates the feeding amount according to the corn field acre yield, the seed water content, the cutting width and the rotating speed of the vehicle speed simulation regulating motor 16 set by the parameter display setting panel 2, corrects the linear relation according to the feeding amount, and converts the corrected linear relation into the corresponding relation between the power-on time of the roller rotating speed regulating key of the operation key 12 and the rotating speed of the roller rotating speed simulation regulating motor 21.
The influence of the rotation speed of the motor 16 for simulating and adjusting the corn field acre yield, the seed water content, the cutting width and the speed on the feeding amount is as follows: the higher the corn field yield, the larger the water content of the grains, the wider the cutting width, and the faster the rotation speed of the vehicle speed simulation adjusting motor 16, the larger the feeding amount.
The relation between the power-on time of the feeding amount to the roller rotating speed adjusting key and the roller rotating speed change is as follows: the larger the feeding amount is, the slower the change of the rotating speed of the roller is under the same power-on time of the roller rotating speed adjusting key.
The vehicle control unit 3 fits the correspondence between the power-on time of the actual fan proportional solenoid valve and the fan rotation speed to a linear relationship, and converts the linear relationship into the correspondence between the fan rotation speed adjusting knob position of the operation knob 13 and the rotation speed of the fan rotation speed analog adjusting motor 25.
The whole vehicle controller 3 simulates the lifting of the header by fitting the power-on time of the actual header proportional electromagnetic valve and the header height change curve into a linear relation and converting the linear relation into the power-on time of the header height control key of the operation key 12 and the rotation angle of the header height simulation adjusting steering engine 15.
The vehicle control unit 3 fits the actual power-on time of the concave board gap adjusting motor and the concave board gap change curve into a linear relation, and converts the linear relation into the power-on time of the concave board gap adjusting key of the operation key 12 and the rotation angle of the concave board gap simulation adjusting steering engine 18, so that the change of the concave board gap is simulated.
The vehicle control unit 3 converts the corresponding relation between the power-on time of the actual vibrating screen adjusting power push rod and the opening angle of the vibrating screen into the power-on time of the vibrating screen adjusting key of the operation key 12 and the rotating angle of the vibrating screen opening degree simulation adjusting steering engine 23, and simulates the change of the opening degree of the vibrating screen.
The measuring and transmitting device 28 comprises a vehicle speed sensor 17, a header height sensor 14, a stalk-pulling roller rotating speed sensor 26, a roller rotating speed sensor 20, a fan rotating speed sensor 24, a concave plate gap sensor 19 and a vibrating screen opening sensor 22 which are respectively connected with an input port of the harvesting controller 4.
The vehicle speed sensor 17 is arranged on a power output shaft of the vehicle speed analog regulating motor 16 and is used for detecting the rotating speed of the vehicle speed analog regulating motor 16.
The stem-drawing roller speed sensor 26 is arranged on a power output shaft of the stem-drawing roller speed analog regulating motor 27 and is used for detecting the rotating speed of the stem-drawing roller speed analog regulating motor 27.
The drum speed sensor 20 is arranged on a power output shaft of the drum speed analog regulating motor 21 and is used for detecting the rotating speed of the drum speed analog regulating motor 21.
The fan rotating speed sensor 24 is arranged on a power output shaft of the fan rotating speed analog regulating motor 25 and used for detecting the rotating speed of the fan rotating speed analog regulating motor 25.
The concave plate gap sensor 19 is arranged on a steering engine rotating shaft of the concave plate gap simulation adjusting steering engine 18 and used for detecting the rotating angle of the concave plate gap simulation adjusting steering engine 18 and further converting the rotating angle into a concave plate gap.
The vibrating screen opening degree sensor 22 is arranged on a steering engine rotating shaft of the vibrating screen opening degree simulation adjusting steering engine 23 and used for detecting the rotating angle of the vibrating screen opening degree simulation adjusting steering engine 23 and converting the rotating angle into the vibrating screen opening degree.
The data signals collected by the measurement transducer 28 include: analog signals collected by a vehicle speed sensor 17, a stalk-pulling roller speed sensor 26, a drum speed sensor 20 and a fan speed sensor 24, and digital signals collected by a header height sensor 14, a concave plate gap sensor 19 and a vibrating screen opening sensor 22.
The vehicle control unit 3 CAN receive not only the instruction of the test bed operation module 7 but also the automatic control instruction of the harvesting controller 4, and the tester sends the control instruction of the simulation execution component to the vehicle control unit 3 through the CAN bus to operate in the process of verifying the control system.
The CAN bus comprises 3 CAN nodes, namely a whole vehicle controller 3, a harvesting controller 4 and a parameter display setting panel 2. The three nodes are all on a CAN bus and CAN transmit data mutually.
As shown in fig. 1, the test bed main body 5 comprises two storage drawers 8 and two storage cabinets 9, two universal wheels 10 and two directional wheels 11 are arranged below the test bed main body 5, so that the test bed can be conveniently moved, and an openable door is arranged on the back of the test bed main body 5, so that the test bed can be conveniently maintained and the line can be conveniently upgraded and reformed in the later period; the universal wheel 10 is provided with a locking mechanism for fixing the test bed after moving to a target position.
As shown in fig. 4, the working process of the present invention is as follows:
a tester can select a manual mode and an automatic mode through an automatic selection key of the test bed operation module 7, and the simulation execution mechanism 29 receives an instruction of the test bed operation module 7 in the manual mode; in the automatic mode, the simulation executive mechanism 29 receives commands of the respective simulation executive components sent by the harvest controller 4 through the CAN bus. In the automatic mode, any operation key or operation knob of the test bed operation module 7 is operated, namely, the test bed exits from the automatic mode, enters into the manual mode, and enters into the automatic mode again, so that the automatic key needs to be pressed again.
In the manual mode:
firstly, harvesting parameters such as acre yield, ear diameter, ear length, plant spacing, ear node height, soil moisture, seed moisture content, stem moisture content and the like of a corn field to be harvested are set through a parameter display setting panel 2, then vehicle speed, header height, stem roller rotating speed, concave plate gap, fan rotating speed and vibrating screen opening degree are manually adjusted through a test bed operation module 7, each simulation execution component of a simulation execution mechanism 29 drives a simulation wheel, a simulation header, a simulation stem roller, a simulation concave plate, a simulation fan and a simulation vibrating screen to perform demonstration on a demonstration panel 6, and a measurement transmitting device 28 acquires data signals of each simulation execution component in real time and transmits the data signals to a harvesting controller 4; the harvest controller 4 processes the data signals and displays them through the parameter display setup panel 2.
In the automatic mode:
firstly, harvesting parameters such as the acre yield, the diameter of the fruit cluster, the length of the fruit cluster, the plant spacing, the height of the ear-saving point, the soil moisture, the moisture content of grains, the moisture content of stalks and the like of a corn field to be harvested are set through a parameter display setting panel 2, and then a control module of a control system of the corn harvester to be simulated and debugged is led into a harvesting controller 4 by a tester. Before automatic control, the simulation execution components of the simulation execution mechanism 29 are adjusted to the allowable range through the test bed operation module 7, then the automatic mode is entered, the harvesting controller 4 controls the simulation execution mechanism 29, and the stability and reliability of the corn harvester control system to be simulated and debugged are verified under the harvesting scene preset by a tester.
Claims (1)
1. The utility model provides a maize picker intelligent control test platform based on CAN bus for carry out simulation debugging, its characterized in that to maize picker control system indoor: the test platform comprises a test bed main body (5), and a parameter display setting panel (2), a whole vehicle controller (3), a harvest controller (4), a demonstration panel (6), a test bed operation module (7), a simulation execution mechanism (29) and a measurement transmitting device (28) which are arranged on the test bed main body (5);
the parameter display setting panel (2), the whole vehicle controller (3) and the harvesting controller (4) are connected through a CAN bus;
the harvesting controller (4) can receive and store a control module of a corn harvester control system to be simulated and debugged, and sends a control instruction to the whole vehicle controller (3) according to harvesting parameters and the control module set by the parameter display setting panel (2) to perform automatic simulation adjustment on the harvesting process; the harvesting parameters comprise parameters of a corn field to be harvested and working parameters of an engine; wherein the corn field parameters to be harvested comprise the acre yield of the corn field, the plant spacing, the diameter of the stems, the soil moisture, the moisture content of seeds and the moisture content of the stems; the working parameters of the engine comprise swath, engine rotating speed and working power of the engine;
the test bed operation module (7) comprises a plurality of operation keys (12) and a plurality of operation knobs (13); the operation key (12) and the operation knob (13) are connected with an input port of the whole vehicle controller (3) and used for inputting a manual control instruction;
a corn harvester simulation graph is drawn on the demonstration panel (6), and wheels, a header, a stalk-pulling roller, a concave plate, a fan and a vibrating screen in the corn harvester simulation graph are simulation wheels, a simulation header, a simulation stalk-pulling roller, a simulation concave plate, a simulation fan and a simulation vibrating screen which can be dynamically demonstrated;
the simulation execution mechanism (29) comprises a plurality of simulation execution components which are respectively connected with the output port of the whole vehicle controller (3), and the simulation execution components are respectively as follows: a vehicle speed simulation adjusting motor (16) connected with a simulation wheel, a header height simulation adjusting steering engine (15) connected with a simulation header, a stem-pulling roller rotating speed simulation adjusting motor (27) connected with a simulation stem-pulling roller, a roller rotating speed simulation adjusting motor (21) connected with a simulation roller, a concave plate gap simulation adjusting steering engine (18) connected with a simulation concave plate, a fan rotating speed simulation adjusting motor (25) connected with a simulation fan and a vibrating screen opening simulation adjusting steering engine (23) connected with a simulation vibrating screen;
the vehicle control unit (3) converts the corresponding relation between the control part and the execution part of the actual harvester into the corresponding relation between the operation key (12), the operation knob (13) and each simulation execution part of the simulation execution mechanism (29);
the measurement and transmission device (28) collects data signals of each simulation execution component of the simulation execution mechanism (29), and the measurement and transmission device (28) is connected with an input port of the harvesting controller (4) and transmits the collected data signals to the harvesting controller (4); the harvesting controller (4) processes the data signals, converts the data signals into parameters of each simulation execution component of the corresponding simulation execution mechanism (29), and sends the parameters to the parameter display setting panel (2) for display;
the measuring and transmitting device (28) comprises a vehicle speed sensor (17), a header height sensor (14), a stalk-pulling roller rotating speed sensor (26), a roller rotating speed sensor (20), a fan rotating speed sensor (24), a concave plate gap sensor (19) and a vibrating screen opening sensor (22);
the vehicle speed sensor (17) is arranged on a power output shaft of the vehicle speed analog regulating motor (16) and is used for detecting the rotating speed of the vehicle speed analog regulating motor (16);
the header height sensor (14) is arranged on a steering engine rotating shaft of the header height analog adjustment steering engine (15) and used for detecting the rotating angle of the header height analog adjustment steering engine (15) and converting the rotating angle into the header height;
the stem-drawing roller rotating speed sensor (26) is arranged on a power output shaft of the stem-drawing roller rotating speed analog regulating motor (27) and is used for detecting the rotating speed of the stem-drawing roller rotating speed analog regulating motor (27);
the roller rotating speed sensor (20) is arranged on a power output shaft of the roller rotating speed analog adjusting motor (21) and is used for detecting the rotating speed of the roller rotating speed analog adjusting motor (21);
the fan rotating speed sensor (24) is arranged on a power output shaft of the fan rotating speed analog regulating motor (25) and is used for detecting the rotating speed of the fan rotating speed analog regulating motor (25);
the concave plate gap sensor (19) is arranged on a steering engine rotating shaft of the concave plate gap simulation adjusting steering engine (18) and used for detecting the rotating angle of the concave plate gap simulation adjusting steering engine (18) and converting the rotating angle into a concave plate gap;
the vibrating screen opening degree sensor (22) is arranged on a steering engine rotating shaft of the vibrating screen opening degree simulation adjusting steering engine (23) and used for detecting the rotating angle of the vibrating screen opening degree simulation adjusting steering engine (23) and converting the rotating angle into the vibrating screen opening degree;
the whole vehicle controller (3) calculates the power sum of the vehicle speed simulation adjusting motor (16), the stem-pulling roller rotating speed simulation adjusting motor (27), the roller rotating speed simulation adjusting motor (21) and the fan rotating speed simulation adjusting motor (25), compares the power sum with the working power of the engine set by the parameter setting panel (2), and stops the test platform if the power sum is greater than the working power of the engine; otherwise, the test platform continues to run;
the whole vehicle controller (3) combines the response time of a walking proportional solenoid valve to an instruction of a real vehicle control handle and the corresponding relation between the position of the control handle and the vehicle speed when an actual harvester is in no-load walking on a normal road surface, and the soil moisture set by the parameter display setting panel (2), calculates the walking resistance coefficient and the vehicle slip rate of the harvester relative to the normal road surface, corrects the corresponding relation between the position of the control handle and the vehicle speed according to the walking resistance coefficient, the vehicle slip rate and the engine speed set by the parameter display setting panel (2), and converts the corrected corresponding relation into the corresponding relation between the rotating position of a vehicle speed adjusting knob of an operation knob (13) and the rotating speed of a vehicle speed simulation adjusting motor (16);
the influence of the walking resistance coefficient, the vehicle slip rate and the engine speed on the corresponding relation between the position of the vehicle speed adjusting knob and the speed of the vehicle speed analog adjusting motor (16) is as follows: the larger the walking resistance coefficient and the vehicle slip rate are, the slower the rotation speed of the vehicle speed simulation adjusting motor (16) changes along with the position of the vehicle speed adjusting knob; the faster the engine rotating speed is, the faster the rotating speed of the vehicle speed simulation adjusting motor (16) changes along with the position of the vehicle speed adjusting knob;
the whole-vehicle controller (3) fits the corresponding relation between the power-on time of the stalk-pulling roller proportional electromagnetic valve and the rotating speed of the stalk-pulling roller hydraulic motor to a linear relation when the actual harvester is in no-load, then calculates the stalk-pulling roller load by combining the set plant spacing, the stalk diameter, the stalk water content and the rotating speed of the vehicle speed analog regulating motor (16), corrects the fitted linear relation according to the stalk-pulling roller load, and converts the corrected linear relation into the corresponding relation between the power-on time of the stalk-pulling roller rotating speed regulating key of the operation key (12) and the rotating speed of the stalk-pulling roller rotating speed analog regulating motor (27);
the influence relationship of the power-on time of the stem-pulling roller rotating speed adjusting key by the stem-pulling roller load and the change of the stem-pulling roller rotating speed is as follows: the larger the load of the stalk-pulling roll is, the smaller the change of the rotating speed of the stalk-pulling roll is under the condition of power-on time of the same rotating speed adjusting key of the stalk-pulling roll;
the whole-vehicle controller (3) fits the corresponding relation between the power-on time of the roller rotating speed regulating motor and the rotating speed of the roller when the actual harvester is in no-load to be a linear relation, calculates the feeding amount according to the rotating speed of the corn field acre yield, the grain water content, the cutting width and the vehicle speed simulation regulating motor (16) set by the parameter display setting panel (2), corrects the linear relation according to the feeding amount, and converts the corrected linear relation into the corresponding relation between the power-on time of the roller rotating speed regulating key of the operation key (12) and the rotating speed of the roller rotating speed simulation regulating motor (21);
the influence relationship of the corn field acre yield, the seed water content, the cutting width and the speed of the vehicle simulating and adjusting motor (16) on the feeding amount is as follows: the higher the corn field yield, the larger the water content of grains, the wider the cutting width, and the faster the rotating speed of a vehicle speed simulation adjusting motor (16), the larger the feeding amount;
the relation between the power-on time of the feeding amount to the roller rotating speed adjusting key and the roller rotating speed change is as follows: the larger the feeding amount is, the slower the change of the rotating speed of the roller is under the same power-on time of the roller rotating speed adjusting key;
the vehicle control unit (3) fits the corresponding relation between the power-on time of the actual fan proportional solenoid valve and the fan rotating speed into a linear relation, and converts the linear relation into the corresponding relation between the fan rotating speed adjusting knob position of the operation knob (13) and the rotating speed of the fan rotating speed analog adjusting motor (25);
the whole vehicle controller (3) simulates the lifting of the header by fitting the power-on time of an actual header proportional electromagnetic valve and a header height change curve into a linear relation, and converting the linear relation into the power-on time of a header height control key of an operation key (12) and the rotation angle of a header height simulation adjusting steering engine (15);
the vehicle control unit (3) is used for simulating the change of the gap of the concave plate by fitting the actual power-on time of the concave plate gap adjusting motor and the change curve of the gap of the concave plate into a linear relation and converting the linear relation into the power-on time of the concave plate gap adjusting key of the operation key (12) and the rotation angle of the concave plate gap simulation adjusting steering engine (18);
the vehicle control unit (3) converts the corresponding relation between the power-on time of the actual vibrating screen adjusting power push rod and the opening angle of the vibrating screen into the power-on time of a vibrating screen adjusting key of the operation key (12) and the rotating angle of a vibrating screen opening degree simulation adjusting steering engine (23) to simulate the change of the opening degree of the vibrating screen.
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