CN114165502B - Automatic control method and system for double-bud sugarcane section transverse planter tillage depth - Google Patents
Automatic control method and system for double-bud sugarcane section transverse planter tillage depth Download PDFInfo
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- CN114165502B CN114165502B CN202111348985.3A CN202111348985A CN114165502B CN 114165502 B CN114165502 B CN 114165502B CN 202111348985 A CN202111348985 A CN 202111348985A CN 114165502 B CN114165502 B CN 114165502B
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- 235000007201 Saccharum officinarum Nutrition 0.000 title claims abstract description 41
- 238000000034 method Methods 0.000 title claims abstract description 30
- 238000003971 tillage Methods 0.000 title description 2
- 239000000725 suspension Substances 0.000 claims abstract description 63
- 230000007246 mechanism Effects 0.000 claims abstract description 24
- 239000002689 soil Substances 0.000 claims abstract description 8
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/08—Servomotor systems incorporating electrically operated control means
- F15B21/087—Control strategy, e.g. with block diagram
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
- A01C7/20—Parts of seeders for conducting and depositing seed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/16—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors
- F15B11/161—Servomotor systems without provision for follow-up action; Circuits therefor with two or more servomotors with sensing of servomotor demand or load
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/06—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with two or more servomotors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B19/00—Testing; Calibrating; Fault detection or monitoring; Simulation or modelling of fluid-pressure systems or apparatus not otherwise provided for
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Abstract
The invention provides a method and a system for automatically controlling the tilling depth of a transverse planter for double sugarcane sections, which belong to the technical field of agricultural machinery automation, and the method comprises the following steps: setting a load pressure threshold value, a tilling depth operation threshold value, acquiring attitude information of a suspension unit, judging whether the stress of a hydraulic cylinder of the suspension unit is in the load threshold value according to the acquired pressure information of a planter cylinder, measuring the distance by a laser sensor in real time, calculating the whole lowering height of the suspension unit, controlling a force actuating mechanism to uniformly adjust three-point suspension lowering points of the hydraulic cylinder, sending a tilling starting instruction after the tilling depth reaches a set value, feeding back the tilling depth in real time, and feeding back the soil entering angle of a rear plow. When the double-bud sugarcane section transverse planter starts to work, the tilling depth is detected in real time through the sensor, so that the elongation of the oil cylinder is indirectly obtained according to a coefficient k calculated in advance by an experimental platform. The situation that the soil covering is shallow due to insufficient cultivation depth caused by misjudgment of people and the planting cannot reach the optimal effect can be reduced to a great extent.
Description
Technical Field
The invention relates to the technical field of agricultural machinery automation, in particular to a method and a system for automatically controlling the tilling depth of a transverse planter for double sugarcane sections.
Background
The Guangxi is taken as a hilly area, the sugarcane is a main crop, the growth quality of the sugarcane is closely related to the cultivation depth, the cultivation depth is insufficient to cause the problems of lodging, less bud emergence and the like, so that the requirement of deep planting and shallow burying is required to be met, and the planting depth is required to be 30cm-35cm, so that the growth of the sugarcane is facilitated. Under the ordinary operational environment, the aircraft crew is according to the visual observation height of transferring, suggestion aircraft crew lifts up or transfer the unit that hangs, each makes a round trip to need once to promote and transfer, so, can real-time detection hang the unit height of transferring to carry out the application of tilling depth automatic adjustment point and appear more and more important, can replace the aircraft crew to descend the condition of hanging the unit height by experience, and effectively improve field work efficiency, promote the planting quality of sugarcane, reduce the tilling depth not enough condition that the manual intervention is adjusted inaccurately and lead to, solve the problem of accurate tilling depth in the field at present need to solve.
Disclosure of Invention
The invention aims to provide a method and a system for automatically controlling the tilling depth of a transverse planter for double sugarcane sections, which solve the technical problems in the background art. After the data transmitted back in real time through the sensor is processed through the controller, the tilling depth distance is adjusted, the effect of accurately controlling the tilling depth is achieved, the tilling effect is greatly improved, the problem that the growth of sugarcane is limited due to insufficient tilling depth is reduced, and the tilling depth conditions of sugarcane crops in the tilling land are consistent. Meanwhile, the operation of the planter is convenient, and the workload is reduced.
In order to achieve the above purpose, the technical scheme adopted by the invention is as follows:
an automatic control method for the tilling depth of a transverse planter for double sugarcane sections, comprising the following steps:
step 1: setting a load pressure threshold value of the planter and a tilling depth operation threshold value of the planter;
step 2: acquiring the body attitude information of a suspension unit;
step 3: when sugarcane seeds are put on the suspension unit, judging whether the stress of the hydraulic cylinder of the suspension unit is within a load threshold according to the obtained pressure information of the hydraulic cylinder of the tractor;
step 4: and when the load threshold is reached, an alarm is sent out, so that the sugarcane seed load is ensured to be within the pressure threshold.
Step 5: judging whether the rear plow touches the ground according to the acquired attitude angle sensor information and pressure sensor information, if the suspension unit touches the ground, the laser ranging sensor starts ranging with a fixed position, data are transmitted in real time, and meanwhile, the power mechanism carries out real-time uniform speed adjustment;
step 6: under the continuous parallel monitoring of the pressure and the tilling depth, if the tilling depth reaches within a threshold value, transmitting tilling information to a liquid crystal display positioned in a cab;
step 7: in the process of adjusting the suspension unit to be placed down, all measured data are displayed on a liquid crystal display of a cab in real time.
Further, in the step 1, the load pressure threshold is set as a maximum pressure threshold for lifting and lowering the planter oil cylinder when the planter oil cylinder loads the maximum amount of sugarcane seeds, and the tilling operation threshold is an ideal tilling threshold of the current tilling field.
Further, in step 2, the body posture information of the suspension unit includes real-time angle between the suspension unit and the geographical horizontal ground when the suspension unit is lowered, the returned angle data is resolved in real time by using a dynamic kalman filtering method, the angle information at the current moment is estimated by using the angle information at the previous moment, and then the optimal value is obtained by calculating the current estimated value and the actual value, so that accurate real-time angle information is obtained.
Further, in step 3, when the loaded sugarcane seeds of the planter are placed down and not subjected to tilling depth adjustment, the pressure transmitter acquires the pressure data of the oil cylinder in real time, and whether the pressure data are within a load threshold or not is judged.
Further, in step 5, it is determined whether the suspension unit touches the ground, under the condition that the dead weight of the suspension unit is fixed, in the process of lowering the suspension unit without touching the ground, the waveform of the pressure changes into a regular waveform, when touching the ground, the pressure waveform is affected by the soil resistance, and different from the lowering waveform, the current state, namely the ground touching state, is calculated by the controller according to the data measured by the pressure sensor, and meanwhile, the angle sensor returns to the soil-entering depth-cutting angle and the angular velocity at the same time of touching the ground, and the control force executing mechanism performs lowering control on the hydraulic cylinder at the fixed angular velocity.
Further, in step 5, when the rear plow is in the condition of touching the ground, the distance between the fixed point and the rear plow is measured by the laser sensor fixed between the rear plow supports, the distance between the fixed point and the rear plow is calculated by the controller, the distance between the fixed sensor and the position parallel to the rear plow tip is calculated by subtracting the distance measured by the sensor, after the depth reaches the depth operation threshold, information of starting the cultivation is sent to the cab liquid crystal display platform, and the depth reaches the set threshold range, namely, an analog-digital conversion signal sends an instruction to the controller to send control force mechanism stop information.
Further, in step 2, the specific process of acquiring the attitude information of the suspension unit body is that the angular velocity is acquired firstly, then the angle is acquired, the angular velocity is acquired firstly, after the sensor receives the instruction sent by the control unit, a data frame is returned, the data frame comprises 0X55 and 0X52 two receiving head frames, eight data frames and a last check code, the eight data frames comprise an X-axis angular velocity low byte wxL, an X-axis angular velocity high byte wxH, a Y-axis angular velocity low byte wyL, a Y-axis angular velocity high byte wyH, a Z-axis angular velocity low byte wzL, a Z-axis angular velocity high byte wzH, a temperature low byte and a temperature high byte TH, the data is resolved after the controller receives the returned data frame, the X-axis angular velocity wx= ((wxH < 8) | wxL)/32768 2000 (°), the Y-axis angular velocity wy= ((wyH < < 8) | wyL)/32768X 2000 (°/s), the Z-axis angular velocity wz= ((wzH < < 8) | wzL)/32768X 2000 (°/s), the process of obtaining the angle is that after the sensor receives the instruction sent by the control unit, a data frame is returned, the data frame comprises 0X55 and 0X53 two receiving head frames, eight angle data frames and the last angle check code, the eight angle data frames comprise X-axis angle low byte RollL, X-axis angle high byte RollH, Y-axis angle low byte PitchL, Y-axis angle high byte PitchH, Z-axis angle low byte Yawl, Z-axis angle high byte Yawh, temperature low byte TL and temperature high byte TH, after the controller receives the returned data frame, the data is resolved, the x-axis Roll angle roll= ((RollH < < 8) |rolll)/32768 x 180 (°), the y-axis Pitch angle pitch= ((PitchH < < 8) |pitchl)/32768 x 180 (°), and the z-axis Yaw angle yaw= ((YawH < < 8) |yawl)/32768 x 180 (°).
A system for automatically controlling the tilling depth of a transverse planter for double sugarcane sections comprises:
the sensor peripheral unit comprises a pressure sensor, an angle sensor and a laser ranging sensor, wherein the pressure sensor is arranged at an oil inlet of a three-point suspension lifting oil cylinder of the tractor, the angle sensor is arranged on a plane of a frame parallel to the plane of the rear plough, and the laser ranging sensor is arranged in the middle of a vertical right-angle cross fixing frame connected with the rear plough and used for feeding back measured data in real time;
the executing unit is used for lifting and lowering the whole suspension unit by the two oil cylinders of the tractor lifting suspension unit;
and the control unit is used for receiving information of the angle sensor, the laser sensor and the pressure sensor and controlling the execution unit to lift and lower.
Further, in the whole lowering process of the suspension unit, the pressure sensor and the laser ranging sensor feed back measured data in real time, the measured data are displayed on a liquid crystal display screen positioned in a cab, a pressure sensor device is arranged on an oil cylinder of a lifting suspension mechanism of the tractor and used for detecting the pressure value of the oil cylinder in real time when the oil cylinder is lifted and lowered, and the pressure sensor is digitally acquired by an ADC module on a central processing unit after returning analog signals and is converted into tilling depth control signals.
Further, the control unit outputs PWM signals with different frequencies after adjusting through a Kalman filtering algorithm according to the angle measured by an angle sensor arranged on the suspension unit, and the oil inlet and outlet quantity of the oil cylinder is controlled by changing the switch of the electromagnetic valve so as to control the lifting and lowering distance of the hydraulic cylinder, so that the tilling depth is accurately controlled.
Due to the adoption of the technical scheme, the invention has the following beneficial effects:
according to the automatic control system for the tilling depth of the double-bud sugarcane section transverse planter, the six-axis attitude angle sensor is used as a rear plough-entering angle reference, the pressure transmitter is used as a detection device to collect stress information of a lifting and descending suspension mechanism of the planter, specific data information is detected in real time and transmitted to an automatic control system, the tilling depth is controlled by adjusting the telescopic quantity of an oil cylinder through an actuating mechanism, in the control process, a hydraulic cylinder stretches and retracts, after the control mechanism detects the optimal rear plough depth angle and reaches the set tilling depth, the planter starts to work, kalman filtering is carried out on collected angle data under the condition that the planter is unstable due to the vibration of the planter caused by uneven soil tilling in the tilling process, accuracy is improved, meanwhile fuzzy PID control is carried out on the calibrated tilling depth and the actual tilling depth, the real-time tilling effect is optimal, the automatic control system for the tilling depth of the double-bud sugarcane section transverse planter is improved, the stability of the double-bud sugarcane section transverse planter in a complex working environment is reduced, the manual intervention is required to be judged, and the planter can be quickly operated in a practical manual mode.
Drawings
FIG. 1 is a flow chart of automatic control of the tilling depth of a transverse planter for double bud sugarcane sections;
FIG. 2 is a block diagram of an automatic control system according to the present invention;
FIG. 3 is a view of the whole machine of the transverse planter for double sugarcane sections of the present invention
FIG. 4 is a schematic structural view of a ditcher of the double-bud sugarcane section transverse planter of the present invention;
FIG. 5 is a schematic view of the rear plow of the transverse planter for double bud sugarcane sections.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention more apparent, the present invention will be further described in detail below by referring to the accompanying drawings and by illustrating preferred embodiments. It should be noted, however, that many of the details set forth in the description are merely provided to provide a thorough understanding of one or more aspects of the invention, and that these aspects of the invention may be practiced without these specific details.
As shown in fig. 1, the automatic control method for the cultivation depth of the double-bud sugarcane section transverse planter comprises the following steps:
step 1: and acquiring the body posture information of the suspension unit. The load pressure threshold is set as the maximum pressure threshold for lifting the planter oil cylinder when the planter oil cylinder loads the maximum amount of sugarcane seeds, and the tilling depth operation threshold is an ideal tilling depth threshold in the current tilling field.
Step 2: and judging whether the rear plow of the suspension unit touches the ground according to the acquired vehicle body posture information. The body posture information of the suspension unit comprises real-time angles between the suspension unit and the geographic horizontal ground when the suspension unit is lowered, the transmitted angle data are calculated in real time by using a dynamic Kalman filtering method, the angle information at the current moment is estimated by using the angle information at the previous moment, and the optimal value is calculated by using the current estimated value and the actual value so as to obtain accurate real-time angle information.
Step 3: if the suspension unit touches the ground, the laser ranging sensor starts ranging with the fixed position, data are transmitted in real time, and meanwhile, the power mechanism carries out real-time adjustment. When the power mechanism is used for adjusting the tilling depth, the following conditions are mainly adopted; if when the planter is cultivated in a new way, the planter is lowered, at the moment, all the loaded sugarcane seeds are placed on the suspension frame, and at the moment, the pressure sensor can measure the real-time pressure change when the suspension unit is lowered. When the loaded sugarcane seeds of the planter are placed down and not subjected to tilling depth adjustment, the pressure transmitter acquires the pressure data of the oil cylinder in real time, and whether the pressure data are within a load threshold value or not is judged.
Step 4: when the power mechanism continues to lower the suspension unit, pressure sensors on hydraulic cylinders at three-point suspension positions on the tractor collect pressure data, and whether the pressure data is within a threshold range is detected in real time. When the load threshold is exceeded, a warning or stop message is sent to the controller and sent to a liquid crystal display platform positioned in the cab through the controller.
Step 5: if the pressure exceeds the pressure threshold range of the hydraulic cylinder, stopping placing sugarcane seeds, and keeping the pressure of the hydraulic cylinder of the tractor within the threshold. The sugarcane seeds are controlled to be placed within the load threshold to prevent danger. Judging whether the suspension unit touches the ground, under the condition that the dead weight of the suspension unit is fixed, in the process of lowering the suspension unit without touching the ground, the waveform change of the pressure is a regular waveform, when touching the ground, the pressure waveform is changed under the action of soil resistance, and different from the lowering waveform, the current state which is the ground touching state is calculated by the controller by the data measured by the pressure sensor, meanwhile, the angle sensor returns to the soil entering depth cutting angle and the angular velocity at the same time of touching the ground, and the control force executing mechanism performs lowering control on the hydraulic cylinder at the fixed angular velocity.
If in the cultivation process of the planter, the laser ranging sensor transmits the cultivation depth distance in real time, the controller judges whether the cultivation depth is within an error value, when the cultivation depth is smaller than a set range, the actuating force mechanism adjusts the hydraulic cylinder to be lowered, and when the cultivation depth is larger than the set range, the actuating force mechanism adjusts the hydraulic cylinder to be lifted. When the rear plow is in the condition of touching the ground, the distance between the fixed points and the rear plow is measured by the laser sensor fixed between the rear plow supports, the distance between the fixed points and the rear plow and the ground is calculated by the controller, the distance between the fixed sensor and the position parallel to the rear plow tip is calculated by subtracting the distance measured by the sensor, after the depth reaches the depth operation threshold, information of starting to plow is sent to the cab liquid crystal display platform, the depth reaches the set threshold range (or the pressure reaches the set threshold range), the controller judges that the current depth and the pressure are both in the threshold range, and then the controller sends an extension stopping instruction to the electromagnetic valve of the control oil cylinder, namely the control force mechanism is stopped.
Step 6: under continuous parallel monitoring of the pressure and the tilling depth, if the tilling depth reaches within the threshold value, information that can be tilled is sent to a liquid crystal display located in the cab.
Step 7: in the process of adjusting the suspension unit to be placed down, all measured data are displayed on a liquid crystal display of a cab in real time.
Wherein the attitude information obtained in the step 2 can also use a six-axis attitude analysis method,
after the sensor receives the instruction sent by the control unit, the returned data frames are the following tables 0x55 and 0x52 as the receiving header frames, the following eight are the data frames, the last bit is the check code, and the data are calculated after the controller receives the returned data frames as follows:
angular velocity output format:
table 1 shows the angular velocity data frame format
Angular velocity of X axis: wx= ((wxH < < 8) | wxL)/32768 x 2000 (°/s)
Y-axis angular velocity: wy= ((wyH < < 8) | wyL)/32768 x 2000 (°/s)
Z axis angular velocity: wz= ((wzH < < 8) | wzL)/32768 x 2000 (°/s)
Temperature calculation formula:
T＝((TH<<8)|TL)/100℃
and (3) checksum:
Sum＝0x55+0x52+wxH+wxL+wyH+wyL+wzH+wzL+TH+TL
angle output format:
the calculation method comprises the following steps:
roll angle (x-axis) roll= ((Roll h < < 8) |roll l)/32768 x 180 (°)
Pitch angle (y-axis) pitch= ((Pitch h < < 8) |pitch l)/32768 x 180 (°)
Yaw angle (z-axis) yaw= ((YawH < 8) |yawl)/32768 x 180 (°)
Temperature calculation formula:
T＝((TH<<8)|TL)/100℃
and (3) checksum: sum=0x55+0x53+rolh+roll+pitchh+pitchl+yawh+yawl+th+tl. And according to the different addresses, resolving. When receiving, the first data frame is judged to be 0x50, after the first data frame is determined, the received data frame is then analyzed (0 x52 or 0x 53) according to the situation.
The system for the automatic control method of the tilling depth of the transverse planter for the double sugarcane sections comprises a control unit, an execution unit, a tilling depth state real-time detection system, a laser ranging sensor, a six-axis attitude angle sensor, a pressure transmitter and an infrared remote control device as shown in figures 2-5.
And the control unit is used for acquiring and resolving the data information of the six-axis sensor and the two pressure transmitters, processing the data, and transmitting corresponding signals to the execution unit for corresponding operation. In the embodiment, the central processor of the control unit adopts STM32F1 series micro-control chips, and the series chips are provided with CAN bus interfaces and RS485 communication interfaces, so that the condition that multiple sensors use the same communication protocol to perform half-duplex communication on the same bus is satisfied. The chip is provided with 144 pins, most of I/O ports can meet the voltage requirements of different sensors, and the chip has strong data processing capacity and good stability; and acquiring and resolving data information of the laser sensor in real time through the central processing unit, analyzing data information of the six-axis attitude angle sensor and the pressure transmitter at the same time, transmitting the data information to the execution unit for automatic control of the tilling depth, and transmitting a tilling starting command after the tilling depth reaches a threshold range.
The execution unit comprises two hydraulic lifting devices arranged at the rear part of a carriage of the tractor, and a three-point suspension mechanism connected with the suspension mechanism, wherein the three-point suspension mechanism comprises a lifting arm, an upper pull rod, a right diagonal draw rod, a left diagonal draw rod and a lower pull rod. The motion trail of the three-point suspension is controlled through the hydraulic oil cylinder, and then the suspension unit connected through the three-point suspension is indirectly controlled; the high-power MOS trigger switch driving module controls the hydraulic switch.
The tilling depth real-time detection system is arranged in the cab. The tilling depth data, the geographic horizontal position angle data, the real-time angular speed data and the real-time stress data of the hydraulic cylinder can be fed back to a liquid crystal display screen positioned in a cab in real time, and the real-time controllable operation information of a machine operator is facilitated.
The sensor device position is shown in fig. 4.
The six-axis attitude angle sensor 4-1 is arranged on a reference surface at the bottom of the vehicle body frame, which is parallel to the bottom surface of the rear plow, of the suspension unit and is used for acquiring the relative angle information of the rear plow and the horizontal plane of the geographical system.
And the laser sensor 4-2 is arranged at the center of the cross frame of the fixed rear plow and is used for acquiring the distance from the installation position to the plowing plane.
The infrared remote control device comprises a remote infrared remote controller and an infrared receiving module, and is used for setting different keys to conduct remote control of lifting and lowering of the hydraulic cylinder.
When the cultivation is new, the six-axis attitude angle sensor is used for acquiring the inclination angle of the rear plough relative to the horizontal plane of the geographical system, the laser sensor is used for acquiring real-time cultivation depth data information, the pressure sensor is used for acquiring pressure information of the three-point suspension lifting hydraulic cylinder, and the lifting and the lowering of the hydraulic cylinder are controlled according to the analysis relation threshold value between the data. Thereby reaching the optimal soil cutting angle and the set tilling depth threshold value, and simultaneously ensuring that the pressure of the hydraulic cylinder is always within the set threshold value range.
When the vehicle body is stopped and stabilized in the field and the tilling depth operation is carried out, a tilling depth threshold value and a load pressure threshold value of the field are preset by the controller, the controller analyzes data obtained by the angle sensor and the laser sensor and compares the data with the threshold value, so that the controller can control the elongation of the lifting arm of the hydraulic cylinder, and fuzzy PID control is carried out on the calibrated tilling depth and the actual tilling depth, so that the real-time tilling effect is optimal. Until the whole work is completed stably within the pressure threshold.
The core algorithm for PID control of PWM waveform duty ratio is as follows:
wherein PID OUT The result after the previous PID operation is obtained; PID P Is a proportional part; PID I Is an integrating part; PID D Is a differential part; e, e 0 For the current error, the current error is equal to the set tilling depth minus the current tilling depth; e, e 1 The last error; e, e 2 The previous error is the last error; k is the budget magnification factor; the current PID operation result is obtained by adding the current calculation increment to the operation result of the previous PID, the PWM control parameter is obtained after dividing the operation result by the amplification factor K, and the amplitude limiting is added to the PID operation result according to the actual situation so as to control the plough depth not to exceed the limited range and improve the plough depth precision.
The execution unit comprises a hydraulic system, and the automatic control system controls the opening and closing of a two-position two-way proportional valve by driving the high-power MOS start switch driving module, so that the control of the lifting hydraulic system is realized. The automatic control process is as follows, when the transverse planter is in a load state, the two-position two-way proportional valves on the two hydraulic cylinders are in a normally closed state, and the hydraulic cylinders do not act at the moment. The working process and principle of the automatic control system are described in detail by taking the back plow of the suspension unit as the start; firstly, an automatic control system opens a hydraulic pump, an instruction is sent after data of a laser ranging sensor are calculated, then a controller sends an instruction for lowering a hydraulic cylinder, two hydraulic cylinder lifting devices feed oil, the laser sensor feeds back ranging information in real time, when a data value returned by the laser sensor reaches a set threshold value, the controller receives the value, sends the instruction for stopping lowering the hydraulic cylinder, two-position two-way proportional valves are in a power-off state and keep a normally closed state, and under the action of a hydraulic lock, the elongation of the hydraulic cylinder is kept unchanged and the cultivation depth is stabilized. And the new row finishes the cultivation depth adjustment under the condition that the vehicle body has no displacement change.
The principle diagram of the automatic control system is that the six-axis attitude angle sensor is used for detecting transverse inclination angle and longitudinal acceleration information of a rear plow and a geographic level when the double-bud sugarcane section transverse planter is used for lowering a hanging mechanism, stress information of a measured point is obtained by resolving original data and voltage data of the pressure sensor, the central processor, the liquid crystal display screen and the remote control signal receiving module are integrated on a circuit board, the remote control signal receiving module receives remote control signals from the outside, and decodes the remote control information to the central processor through the decoder so as to judge actions to be executed, and when the excessive load of the hanging mechanism is detected, a stop action command is sent to warn operators to take measures.
The liquid crystal display screen device is integrated on the circuit board, and parameters such as three direction angles, real-time tilling depth data, working states, ambient temperature and the like of the transverse planter which are calculated by the central processor are displayed on the screen in real time, so that a machine hand can conveniently detect information of the suspended machine set in real time.
The high-power MOS trigger switch driving module receives the level signal from the central processor to control the on-off of the electromagnetic valve and drive the expansion of the piston rod of the hydraulic cylinder, so that the aim of automatic control of the tilling depth is finally achieved.
The foregoing is merely a preferred embodiment of the present invention and it should be noted that modifications and adaptations to those skilled in the art may be made without departing from the principles of the present invention, which are intended to be comprehended within the scope of the present invention.
Claims (4)
1. The automatic control method for the cultivation depth of the double-bud sugarcane section transverse planter is characterized by comprising the following steps:
step 1: setting a load pressure threshold value of the planter and a tilling depth operation threshold value of the planter;
step 2: acquiring the body attitude information of a suspension unit;
step 3: when sugarcane seeds are put on the suspension unit, judging whether the stress of the hydraulic cylinder of the suspension unit is within a load threshold according to the obtained pressure information of the hydraulic cylinder of the tractor;
step 4: when the load threshold is reached, an alarm is sent out, so that the sugarcane seed load is ensured to be within the pressure threshold;
step 5: judging whether the rear plow touches the ground according to the acquired attitude angle sensor information and pressure sensor information, if the suspension unit touches the ground, the laser ranging sensor starts ranging with a fixed position, data are transmitted in real time, and meanwhile, the power mechanism carries out real-time uniform speed adjustment;
step 6: under the continuous parallel monitoring of the pressure and the tilling depth, if the tilling depth reaches within a threshold value, transmitting tilling information to a liquid crystal display positioned in a cab;
step 7: in the process of adjusting the suspension unit to be lowered, all measured data are displayed on a liquid crystal display of a cab in real time;
in the step 1, setting a load pressure threshold as a maximum pressure threshold for lifting a planter oil cylinder when loading the maximum amount of sugarcane seeds, wherein a tilling depth operation threshold is an ideal tilling depth threshold in the current tilling field;
in the step 2, the body posture information of the suspension unit comprises real-time angles between the suspension unit and the geographic horizontal ground when the suspension unit is lowered, the transmitted angle data are calculated in real time by using a dynamic Kalman filtering method, the angle information at the current moment is estimated by using the angle information at the previous moment, and the optimal value is calculated by using the current estimated value and the actual value so as to obtain accurate real-time angle information;
in the step 3, when the loaded sugarcane seeds of the planter are placed down and not subjected to tilling depth adjustment, the pressure transmitter acquires the pressure data of the oil cylinder in real time, and judges whether the pressure data is within a load threshold;
in step 5, judging whether the suspension unit touches the ground, under the condition that the dead weight of the suspension unit is fixed, in the process of lowering and not touching the ground, the waveform change of the pressure is a regular waveform, when touching the ground, the pressure waveform is changed under the action of soil resistance, different from the lowering waveform, the current state which is the ground touching state is calculated by the controller by the data measured by the pressure sensor, meanwhile, the angle sensor returns to the soil-entering depth angle and the angular velocity at the same time of touching the ground, and the control force executing mechanism carries out lowering control on the hydraulic cylinder at the fixed angular velocity;
in the step 5, when the rear plow is in the condition of touching the ground, the distance between the fixed points and the ground is measured by the laser sensor fixed between the rear plow supports, the distance between the fixed points and the ground is calculated by the controller, the distance between the fixed sensor and the position parallel to the rear plow tip is obtained by subtracting the distance measured by the sensor, after the depth reaches the depth operation threshold, information of starting the cultivation is sent to the cab liquid crystal display platform, and the depth reaches the set threshold range, namely an analog-digital conversion signal sends an instruction to the controller to send control force mechanism stop information;
in step 2, the specific process of acquiring the attitude information of the suspension unit body is that the angular velocity and the angle are acquired, the process of acquiring the angular velocity is that after the sensor receives the instruction sent by the control unit, a data frame is returned, the data frame comprises two receiving head frames of 0X55 and 0X52, eight data frames and a last check code, the eight data frames comprise an X-axis angular velocity low byte wxL, an X-axis angular velocity high byte wxH, a Y-axis angular velocity low byte wyL, a Y-axis angular velocity high byte wyH, a Z-axis angular velocity low byte wzL, a Z-axis angular velocity high byte wzH, a temperature low byte TL and a temperature high byte TH, the data frame is calculated after the controller receives the returned data frame, the X-axis angular velocity wx= ((wxH < 8) | wxL)/32768 2000 (), the Y-axis angular velocity wy= ((wyH < < 8) | wyL)/32768 2000 (°/s), the Z-axis angular velocity wz= ((wzH < < 8) | wzL)/32768X 2000 (°/s), the angle is obtained by the sensor receiving the instruction from the control unit and returning a data frame comprising 0X55 and 0X53 two receiving head frames, eight angle data frames and the last angle check code, the eight angle data frames comprising X-axis angle low byte RollL, X-axis angle high byte RollH, Y-axis angle low byte PitchL, Y-axis angle high byte PitchH, Z-axis angle low byte Yawl, Z-axis angle high byte Yawh, temperature low byte TL and temperature high byte TH, resolving the data after the controller receives the returned data frame, X-axis Roll angle Roll= ((RollH < < 8) |RollL)/32768 180 (), pitch angle Pitch in y-axis pitch= ((Pitch h < < 8) |pitch l)/32768 x 180 (°), yaw angle Yaw in z-axis= ((YawH < < 8) |yawl)/32768 x 180 (°).
2. The system for automatically controlling the tilling depth of a double-bud sugarcane section transverse planter according to claim 1, comprising:
the sensor peripheral unit comprises a pressure sensor, an angle sensor and a laser ranging sensor, wherein the pressure sensor is arranged at an oil inlet of a three-point suspension lifting oil cylinder of the tractor, the angle sensor is arranged on a plane of a frame parallel to the plane of the rear plough, and the laser ranging sensor is arranged in the middle of a vertical right-angle cross fixing frame connected with the rear plough and used for feeding back measured data in real time;
the executing unit is used for lifting and lowering the whole suspension unit by the two oil cylinders of the tractor lifting suspension unit;
and the control unit is used for receiving information of the angle sensor, the laser sensor and the pressure sensor and controlling the execution unit to lift and lower.
3. The system for automatically controlling the tilling depth of a double-bud sugarcane section transverse planter according to claim 2, wherein: in the whole lowering process of the suspension unit, the pressure sensor and the laser ranging sensor feed back measured data in real time, the measured data are displayed on a liquid crystal display screen positioned in a cab, and a pressure sensor device is arranged on an oil cylinder of a lifting suspension mechanism of the tractor and used for detecting the pressure value of the oil cylinder in real time when the oil cylinder is lifted and lowered, and the pressure sensor returns an analog signal and then is digitally acquired by an ADC module on a central processing unit and is converted into a tilling depth control signal.
4. The system for automatically controlling the tilling depth of a double-bud sugarcane section transverse planter according to claim 2, wherein: the control unit outputs PWM signals with different frequencies after being regulated by a Kalman filtering algorithm according to the angle measured by an attitude angle sensor arranged on the suspension unit, and the oil inlet and outlet quantity of the oil cylinder is controlled by changing the switch of the electromagnetic valve so as to control the lifting and lowering distance of the hydraulic cylinder, so that the tilling depth is accurately controlled.
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