CN111670681A - Corn harvesting feeding amount self-adaptive control system and control method - Google Patents
Corn harvesting feeding amount self-adaptive control system and control method Download PDFInfo
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- CN111670681A CN111670681A CN202010685893.3A CN202010685893A CN111670681A CN 111670681 A CN111670681 A CN 111670681A CN 202010685893 A CN202010685893 A CN 202010685893A CN 111670681 A CN111670681 A CN 111670681A
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- 240000008042 Zea mays Species 0.000 title claims abstract description 54
- 235000002017 Zea mays subsp mays Nutrition 0.000 title claims abstract description 54
- 235000005824 Zea mays ssp. parviglumis Nutrition 0.000 title claims abstract description 53
- 235000005822 corn Nutrition 0.000 title claims abstract description 53
- 238000003306 harvesting Methods 0.000 title claims abstract description 53
- 238000000034 method Methods 0.000 title claims abstract description 14
- 230000007246 mechanism Effects 0.000 claims abstract description 7
- 230000005540 biological transmission Effects 0.000 claims abstract description 4
- 230000003044 adaptive effect Effects 0.000 claims description 12
- 238000004891 communication Methods 0.000 claims description 9
- 230000008859 change Effects 0.000 claims description 3
- 235000013339 cereals Nutrition 0.000 claims 3
- 235000016383 Zea mays subsp huehuetenangensis Nutrition 0.000 claims 1
- 235000009973 maize Nutrition 0.000 claims 1
- 238000001514 detection method Methods 0.000 abstract description 3
- 238000005516 engineering process Methods 0.000 abstract description 3
- 238000003745 diagnosis Methods 0.000 abstract description 2
- 230000004927 fusion Effects 0.000 abstract description 2
- 230000010365 information processing Effects 0.000 abstract description 2
- 230000010354 integration Effects 0.000 abstract description 2
- 230000008569 process Effects 0.000 description 4
- 238000010586 diagram Methods 0.000 description 3
- 241001124569 Lycaenidae Species 0.000 description 1
- 230000002411 adverse Effects 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000005259 measurement Methods 0.000 description 1
- 238000011160 research Methods 0.000 description 1
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01D—HARVESTING; MOWING
- A01D45/00—Harvesting of standing crops
- A01D45/02—Harvesting of standing crops of maize, i.e. kernel harvesting
- A01D45/028—Harvesting devices mounted to a vehicle
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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
Abstract
The invention relates to a self-adaptive control system and a self-adaptive control method for corn harvesting feeding amount. The control system comprises a CAN bus, a measuring and transmitting device, a handrail box assembly, a display, a main controller and a hydraulic actuating mechanism. The invention adopts CAN bus integration technology, integrates corn harvest quality parameter on-line detection and sensing information processing and fault diagnosis systems based on the CAN bus, and ensures the real-time performance and reliability of information transmission of a control system. The optimal target feeding amount is obtained through real-time calculation according to a plurality of feedback information of the kernel breakage rate, the entrainment loss rate and the snapping loss rate, the current feeding amount is calculated through the torque value, the feeding amount of the corn harvester is self-adaptively adjusted in the harvesting process through adjusting the operation speed, and the purposes of improving the working efficiency and the harvesting quality are achieved. The multi-sensor fusion adjustment ensures the reliability and scientificity of the self-adaptive adjustment of the feeding amount, and makes the vehicle speed control more reasonable and accurate in the harvesting process.
Description
Technical Field
The invention belongs to the field of agricultural automation, and particularly relates to a corn harvesting feeding amount self-adaptive control system and method based on a CAN bus.
Background
The working performance of the corn harvester, which is used as a main machine for harvesting corn, directly affects the working efficiency and the harvesting quality. Advanced intelligent control technology has been applied to corn harvesters in developed countries, and has been developed towards large-scale, automation, modernization and precision. Only a few colleges and universities and scientific research institutes in China study the intelligent control of the corn harvester. The factors influencing the corn harvesting efficiency are many, wherein the feeding amount has the most direct influence on the harvesting efficiency, and the low harvesting efficiency is caused by the low feeding amount; and the excessive feeding amount can cause the adverse effects of large ear picking loss, high entrainment loss rate, large kernel crushing rate and the like, and can also cause the blockage of a threshing cylinder seriously and damage the mechanical structure of the corn harvester. Therefore, the self-adaptive adjustment of the feeding amount to be kept at the optimal value through the detection and the identification of the harvesting process in the harvesting process has profound practical significance for improving the harvesting efficiency and the harvesting quality. At present, domestic control on corn harvesting feeding amount is mainly based on subjective experience of a driver, influence of kernel breakage rate, ear picking loss rate, entrainment loss rate and the like is not comprehensively considered, and the corn harvesting feeding amount is adjusted with high subjectivity and uncertainty. Resulting in a corn harvester that does not achieve maximum harvest efficiency and harvest quality during the harvesting process.
Disclosure of Invention
Aiming at the technical problems, the invention aims to provide a corn harvesting feeding amount self-adaptive control system and a control method based on a CAN bus.
In order to achieve the purpose, the invention provides the following technical scheme:
a self-adaptive control system for the corn harvesting feeding amount comprises a CAN bus, a measuring and transmitting device 10, a handrail box assembly 16, a display 8, a main controller 11 and a hydraulic actuating mechanism 12.
The hydraulic actuating mechanism 12 comprises an operation speed control electro-hydraulic proportional valve 13, an operation speed control variable pump 14 and an operation speed control hydraulic motor 15 which are sequentially connected; the operation speed control hydraulic motor 15 is connected with a gearbox 18 of the corn harvester; the operation speed control electro-hydraulic proportional valve 13 is connected with a pulse signal output port of the main controller 11; the work speed control electro-hydraulic proportional valve 13 changes the flow rate of the work speed control variable pump 14 according to a current signal sent from the main controller 11, thereby changing the rotation speed of the work speed control hydraulic motor 15.
The armrest box assembly 16 includes a key sheet 6 and an operating handle 7.
And the operating handle 7, the key board 6 and the display 8 are all connected and communicated with a CAN communication port of the main controller 11 through a CAN bus.
The measuring and transmitting device 10 comprises an entrainment loss sensor 1, a vehicle speed sensor 2, a torque sensor 3, a kernel crushing sensor 4 and a snapping loss sensor 5; wherein the entrainment loss sensor 1 is installed at the bract discharge port 23 at the rear of the tail sieve of the corn harvester; the vehicle speed sensor 2 is arranged on the gearbox 18; the torque sensor 3 is installed at the joint of the drum 21 and the continuously variable transmission wheel 22; the grain breakage rate sensor 4 is arranged at the tail end of a grain conveying auger 20 in the granary; the ear picking loss sensor 5 is arranged above the cutting table 19; the entrainment loss sensor 1, the vehicle speed sensor 2 and the torque sensor 3 are directly connected and communicated with a pulse input port of the main controller 11; the kernel crushing sensor 4 and the ear picking sensor 5 are connected and communicated with a CAN communication port of the main controller 11 through a CAN bus.
The CAN communication port of the main controller 11 is further connected with the engine 9 through a CAN bus.
The system comprises 7 CAN nodes which are respectively as follows: the device comprises a main controller 11, a display 8, an operating handle 7, a key board 6, an ear picking loss sensor 5, a kernel crushing sensor 4 and an engine 9.
The main controller 11 acquires the rotating speed information of the engine 9 through the CAN bus, and judges whether the current rotating speed of the engine meets the corn harvesting operation condition; the main controller 11 obtains the operation instructions of the key board 6 and the operation handle 7 through the CAN bus, and performs mode selection, target feeding amount setting and operation speed control; the main controller 11 acquires the header snapping loss rate information acquired by the snapping loss sensor 5 and the kernel crushing rate information acquired by the kernel crushing sensor 4 through the CAN bus; the main controller 11 acquires entrainment loss rate information acquired by the entrainment loss sensor 1, vehicle speed information acquired by the vehicle speed sensor 2 and torque value information of the roller 21 acquired by the torque sensor 3 through the pulse input port; the main controller 11 sends the acquired information to the display 8 for display.
The main controller 11 is installed under a passenger seat of a cab.
The armrest box assembly 16 and the display 8 are mounted on the right side of the cab.
A self-adaptive control method for the feeding quantity of a corn harvester by using the system comprises the following steps:
s1, the entrainment loss sensor 1 collects current entrainment loss rate information of the corn harvester in real time, the vehicle speed sensor 2 collects vehicle speed information in real time, the torque sensor 3 collects torque value information of the roller 21 in real time, and sends the entrainment loss rate information, the vehicle speed information and the torque value information to the main controller 11; the grain breakage rate sensor 4 acquires grain breakage information through images to acquire the grain breakage rate in the granary, the ear picking loss sensor 5 acquires ear breaking information through images to acquire the ear picking loss rate of the header in the harvesting process, and transmits the grain breakage rate and the ear picking loss rate of the header to the main controller 11 through the CAN bus;
s2, the main controller 11 comprehensively calculates the optimal target feeding amount according to the entrainment loss rate information, the kernel crushing rate and the header snapping loss rate; the main controller 11 calculates the current feeding amount information according to the torque value information; comparing the current feeding amount information with the optimal feeding amount information obtained by calculation, making a decision, and sending a control signal to the operation speed control electro-hydraulic proportional valve 13;
and S3, the work speed control electro-hydraulic proportional valve 13 changes the flow of the work speed control variable pump 14 according to the current signal sent by the main controller 11, thereby changing the rotating speed of the work speed control hydraulic motor 15 and realizing the control of the vehicle speed.
Compared with the prior art, the invention has the beneficial effects that:
(1) the control system has the functions of manual harvesting and automatic harvesting, can adjust the operation mode at any time according to the requirements of users, and has the advantages of convenient and flexible operation and reliable work.
(2) The control system integrates the corn harvest quality parameter on-line detection, sensing information processing and fault diagnosis system based on the CAN bus by adopting the CAN bus integration technology, and ensures the real-time performance and reliability of information transmission of the control system.
(3) The speed of the corn harvester can be steplessly adjusted through the electro-hydraulic proportional valve, the working strength of a driver is reduced, and the operability of the corn harvester is improved.
(4) The optimal target feeding amount can be calculated in real time according to a plurality of feedback information of the kernel breakage rate, the entrainment loss rate and the snapping loss rate, the current feeding amount is calculated through the torque value, the feeding amount of the corn harvester is self-adaptively adjusted in the harvesting process by adjusting the operation speed, and the purposes of improving the working efficiency and the harvesting quality are achieved.
(5) The multi-sensor fusion adjustment ensures the reliability and scientificity of the self-adaptive adjustment of the feeding amount, and makes the vehicle speed control more reasonable and accurate in the harvesting process.
Drawings
FIG. 1 is a network topology diagram of a corn harvest feed adaptive control system of the present invention;
FIG. 2 is a schematic diagram of the adaptive control system for corn harvest feed according to the present invention;
FIG. 3 is a schematic diagram of the installation position of the adaptive control system for corn harvesting feed rate according to the present invention;
FIG. 4 is a schematic view of the armrest box assembly 16 of the present invention;
FIG. 5 is a flow chart of adaptive control of feed rate according to the present invention.
Wherein the reference numerals are:
1 entrainment loss sensor 2 vehicle speed sensor
3 torque sensor 4 seed grain crushing sensor
5 ear picking loss sensor 6 key board
7 operating handle 8 display
9 engine 10 measuring and transmitting device
11 main controller 12 hydraulic actuator
13 operation speed control electro-hydraulic proportional valve 14 operation speed control variable pump
15 operation speed control hydraulic motor 16 armrest box assembly
18 gearbox 19 header
20 defeated grain screw feeder 21 cylinder
22 stepless speed change wheel 23 bract outlet
Detailed Description
The invention is further illustrated with reference to the following figures and examples.
The corn harvester comprises a cab, a granary, an engine 9, a gearbox 18, a header 19 and a roller 21.
As shown in figures 2 and 3, the adaptive control system for the corn harvesting feeding amount comprises a CAN bus, a measuring and transmitting device 10, a handrail box assembly 16, a display 8, a main controller 11 and a hydraulic actuating mechanism 12.
The hydraulic actuating mechanism 12 comprises an operation speed control electro-hydraulic proportional valve 13, an operation speed control variable pump 14 and an operation speed control hydraulic motor 15 which are sequentially connected; the working speed control hydraulic motor 15 is connected with a gearbox 18 of the corn harvester and is used for controlling the output rotating speed of the gearbox 18. The operation speed control electro-hydraulic proportional valve 13 is connected with a pulse signal output port of the main controller 11; the work speed control electro-hydraulic proportional valve 13 changes the flow of the work speed control variable pump 14 according to a current signal sent by the main controller 11, so that the rotating speed of the work speed control hydraulic motor 15 is changed, and the vehicle speed is controlled.
The main controller 11 is installed under a passenger seat of a cab.
The armrest box assembly 16 and the display 8 are arranged on the right side of the cab, and operation of a driver is facilitated. As shown in fig. 4, the console box assembly 16 includes a key sheet 6 and an operating handle 7.
And the operating handle 7, the key board 6 and the display 8 are all connected and communicated with a CAN communication port of the main controller 11 through a CAN bus.
The measuring and transmitting device 10 comprises an entrainment loss sensor 1, a vehicle speed sensor 2, a torque sensor 3, a kernel crushing sensor 4 and a snapping loss sensor 5; the entrainment loss sensor 1 is arranged at a bract discharge port 23 at the rear part of a tail sieve of the corn harvester and is used for collecting the current entrainment loss rate information of the corn harvester; the vehicle speed sensor 2 is arranged on the gearbox 18 and used for collecting vehicle speed information; the torque sensor 3 is arranged at the joint of the roller 21 and the stepless speed change wheel 22 and is used for collecting the torque value information of the roller 21; the grain breakage rate sensor 4 is arranged at the tail end of a grain conveying auger 20 in the granary and used for acquiring grain breakage information through images and acquiring the grain breakage rate in the granary; the ear picking loss sensor 5 is arranged above the cutting table 19 and used for acquiring ear breaking information through images and acquiring the ear picking loss rate of the cutting table in the harvesting process. The entrainment loss sensor 1, the vehicle speed sensor 2 and the torque sensor 3 are directly connected and communicated with a pulse input port of the main controller 11; the kernel crushing sensor 4 and the ear picking sensor 5 are connected and communicated with a CAN communication port of the main controller 11 through a CAN bus.
The CAN communication port of the main controller 11 is further connected with the engine 9 through a CAN bus.
As shown in fig. 1, the adaptive control system for corn harvesting feed rate comprises 7 CAN nodes, which are respectively: the device comprises a main controller 11, a display 8, an operating handle 7, a key board 6, an ear picking loss sensor 5, a kernel crushing sensor 4 and an engine 9.
The main controller 11 acquires the rotating speed information of the engine 9 through the CAN bus, and judges whether the current rotating speed of the engine meets the corn harvesting operation condition. The main controller 11 obtains the operation instructions of the key board 6 and the operation handle 7 through the CAN bus, and performs mode selection, target feeding amount setting and operation speed control. The main controller 11 acquires the header snapping loss rate information acquired by the snapping loss sensor 5 and the kernel crushing rate information acquired by the kernel crushing sensor 4 through the CAN bus; the main controller 11 acquires entrainment loss rate information acquired by the entrainment loss sensor 1, vehicle speed information acquired by the vehicle speed sensor 2 and torque value information of the roller 21 acquired by the torque sensor 3 through the pulse input port; the main controller 11 sends the acquired information to the display 8 for display.
The invention provides a self-adaptive control method for the feeding amount of a corn harvester, which comprises the following steps:
s1, the entrainment loss sensor 1 collects current entrainment loss rate information of the corn harvester in real time, the vehicle speed sensor 2 collects vehicle speed information in real time, the torque sensor 3 collects torque value information of the roller 21 in real time, and sends the entrainment loss rate information, the vehicle speed information and the torque value information to the main controller 11; the grain breakage rate sensor 4 acquires grain breakage information through images to acquire the grain breakage rate in the granary, the ear picking loss sensor 5 acquires ear breaking information through images to acquire the ear picking loss rate of the header in the harvesting process, and transmits the grain breakage rate and the ear picking loss rate of the header to the main controller 11 through the CAN bus;
s2, the main controller 11 comprehensively calculates the optimal target feeding amount according to the entrainment loss rate information, the kernel crushing rate and the header snapping loss rate; the main controller 11 calculates the current feeding amount information according to the torque value information; comparing the current feeding amount information with the optimal feeding amount information obtained by calculation, making a decision, and sending a control signal to the operation speed control electro-hydraulic proportional valve 13;
and S3, the work speed control electro-hydraulic proportional valve 13 changes the flow of the work speed control variable pump 14 according to the current signal sent by the main controller 11, thereby changing the rotating speed of the work speed control hydraulic motor 15 and realizing the control of the vehicle speed.
The working process of the invention is as follows:
the invention relates to a corn harvesting feeding amount self-adaptive control system based on a CAN bus. The control system has the functions of manually adjusting the feeding amount and adaptively adjusting the feeding amount, and can realize the adaptive control of the feeding amount of the corn harvester in the harvesting process.
The driver can select three driving modes of a parking mode, a road mode and a working mode and two harvesting modes of manual control and automatic control through the key board 6.
Under the road mode and the operation mode, a driver can adjust the speed of the vehicle through the operating handle 7 on the armrest box assembly 16; in the operation mode, if the automatic harvesting key is pressed, the feeding amount of the corn harvester is adjusted in a self-adaptive mode, and if the key board 6 or the operating handle 7 is touched in the automatic control process, the control system exits the automatic control mode and returns to the manual control.
As shown in fig. 5, after the system is powered on and self-tested, the torque sensor 3 is used to acquire the torque value of the drum 21 in real time, and if the torque value exceeds a set threshold value, which indicates that a mechanical fault or drum blockage exists at this time, the main controller 11 sends an alarm signal through the display 8, and ends the operation of the system. And if the torque value does not exceed the set threshold value, converting the acquired torque value into the feeding amount of the current harvester in real time, and entering the selection of a control mode of manual control and automatic control.
In the automatic control process, the current entrainment loss rate information of the corn harvester is acquired in real time by utilizing the entrainment loss sensor 1; acquiring vehicle speed information in real time by using a vehicle speed sensor 2; the grain breakage rate sensor 4 collects grain breakage rate information in the granary in real time; the ear picking loss sensor 5 collects ear picking loss rate information of the header in real time; the entrainment loss rate information, the vehicle speed information and the torque value information are sent to the main controller 11 in real time through a pulse input port of the main controller 11, and meanwhile, the controller 11 receives the kernel breakage rate information and the picking loss rate information in real time through a CAN bus; the main controller 11 calculates the optimal target feeding amount under the current harvesting condition by utilizing the grain breakage rate, the entrainment loss rate and the ear picking loss rate according to the sensor value sent by the measurement transmitting device 10, compares and judges the optimal target feeding amount with the real-time feeding amount obtained by calculating the torque value, makes a decision, sends a control signal and controls the hydraulic actuating mechanism 12 to adjust the current vehicle speed. The display 8 displays the current entrainment loss rate, the kernel breakage rate, the snapping loss rate, the vehicle speed and the torque information in real time through the CAN bus. The control system can regulate and control in real time in the harvesting operation process, realize the self-adaptive control of the feeding amount of the corn harvester, and improve the working efficiency and the grain harvesting quality of the corn harvester.
Claims (6)
1. The utility model provides a maize results feeding volume adaptive control system, includes CAN bus, measures and becomes transmission device (10), handrail case assembly (16), display (8), main control unit (11) and hydraulic actuator (12), its characterized in that:
the hydraulic actuating mechanism (12) comprises an operation speed control electro-hydraulic proportional valve (13), an operation speed control variable pump (14) and an operation speed control hydraulic motor (15) which are sequentially connected; the operation speed control hydraulic motor (15) is connected with a gearbox (18) of the corn harvester; the operation speed control electro-hydraulic proportional valve (13) is connected with a pulse signal output port of the main controller (11); the working speed control electro-hydraulic proportional valve (13) changes the flow of a working speed control variable pump (14) according to a current signal sent by the main controller (11), so that the rotating speed of a working speed control hydraulic motor (15) is changed;
the armrest box assembly (16) comprises a key board (6) and an operating handle (7);
the operating handle (7), the key board (6) and the display (8) are connected and communicated with a CAN communication port of the main controller (11) through a CAN bus;
the measuring and transmitting device (10) comprises an entrainment loss sensor (1), a vehicle speed sensor (2), a torque sensor (3), a kernel crushing sensor (4) and a snapping loss sensor (5); wherein the entrainment loss sensor (1) is arranged at a bract discharge port (23) at the rear part of a tail sieve of the corn harvester; the vehicle speed sensor (2) is arranged on the gearbox (18); the torque sensor (3) is arranged at the joint of the roller (21) and the stepless speed change wheel (22); the grain breakage rate sensor (4) is arranged at the tail end of a grain conveying auger (20) in the granary; the ear picking loss sensor (5) is arranged above the cutting table (19); the entrainment loss sensor (1), the vehicle speed sensor (2) and the torque sensor (3) are directly connected and communicated with a pulse input port of the main controller (11); the grain crushing sensor (4) and the ear picking sensor (5) are connected and communicated with a CAN communication port of the main controller (11) through a CAN bus;
and the CAN communication port of the main controller (11) is further connected with the engine (9) through a CAN bus.
2. The adaptive corn harvest feed control system of claim 1, wherein: the system comprises 7 CAN nodes which are respectively as follows: the device comprises a main controller (11), a display (8), an operating handle (7), a key board (6), a snapping loss sensor (5), a kernel crushing sensor (4) and an engine (9).
3. The adaptive corn harvest feed control system of claim 1, wherein: the main controller (11) acquires the rotating speed information of the engine (9) through the CAN bus and judges whether the current rotating speed of the engine meets the corn harvesting operation condition; the main controller (11) acquires operation instructions of the key board (6) and the operation handle (7) through the CAN bus, and performs mode selection, target feeding amount setting and operation speed control; the main controller (11) acquires header snapping loss rate information acquired by the snapping loss sensor (5) and kernel breakage rate information acquired by the kernel breakage sensor (4) through a CAN bus; the main controller (11) acquires entrainment loss rate information acquired by the entrainment loss sensor (1), vehicle speed information acquired by the vehicle speed sensor (2) and torque value information of the roller (21) acquired by the torque sensor (3) through the pulse input port; the main controller (11) sends the acquired information to the display (8) for display.
4. The adaptive corn harvest feed control system of claim 1, wherein: the main controller (11) is installed under a front passenger seat of a cab.
5. The adaptive corn harvest feed control system of claim 1, wherein: the armrest box assembly (16) and the display (8) are arranged on the right side of the cab.
6. A method for adaptively controlling the feeding amount of a corn harvester by using the system of any one of claims 1 to 5, wherein the method comprises the following steps: the method comprises the following steps:
s1, acquiring current entrainment loss rate information of the corn harvester in real time by an entrainment loss sensor (1), acquiring vehicle speed information in real time by a vehicle speed sensor (2), acquiring torque value information of a roller (21) in real time by a torque sensor (3), and sending the entrainment loss rate information, the vehicle speed information and the torque value information to a main controller (11); a seed breakage rate sensor (4) acquires seed breakage information through images to acquire the seed breakage rate in a granary, an ear picking loss sensor (5) acquires ear breaking information through images to acquire the ear picking loss rate of a header in the harvesting process, and transmits the seed breakage rate and the ear picking loss rate of the header to a main controller (11) through a CAN bus;
s2, the main controller (11) comprehensively calculates the optimal target feeding amount according to the entrainment loss rate information, the kernel breakage rate and the header snapping loss rate; the main control (11) calculates the current feeding amount information according to the torque value information; comparing the current feeding amount information with the optimal feeding amount information obtained by calculation, making a decision, and sending a control signal to an operation speed control electro-hydraulic proportional valve (13);
and S3, the work speed control electro-hydraulic proportional valve (13) changes the flow of the work speed control variable pump (14) according to the current signal sent by the main controller (11), so that the rotation speed of the work speed control hydraulic motor (15) is changed, and the control of the vehicle speed is realized.
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| CN202010685893.3A CN111670681A (en) | 2020-07-16 | 2020-07-16 | Corn harvesting feeding amount self-adaptive control system and control method |
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| CN202010685893.3A CN111670681A (en) | 2020-07-16 | 2020-07-16 | Corn harvesting feeding amount self-adaptive control system and control method |
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| CN112825681A (en) * | 2020-12-30 | 2021-05-25 | 中国农业大学 | Corn threshing and cleaning test bed with intelligent control system |
| CN113406956A (en) * | 2021-05-17 | 2021-09-17 | 中国农业大学 | Deviation detection sensing device of corn combine harvester and automatic line aligning method |
| CN114249137A (en) * | 2020-09-25 | 2022-03-29 | 因特利格雷特总部有限责任公司 | Closed loop solution for truck unloader loading/unloading cartons |
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Application publication date: 20200918 |