CN116339144A - Electro-hydraulic self-adaptive driving and controlling system for variable-diameter roller and control method thereof - Google Patents

Electro-hydraulic self-adaptive driving and controlling system for variable-diameter roller and control method thereof Download PDF

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CN116339144A
CN116339144A CN202310295365.0A CN202310295365A CN116339144A CN 116339144 A CN116339144 A CN 116339144A CN 202310295365 A CN202310295365 A CN 202310295365A CN 116339144 A CN116339144 A CN 116339144A
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valve
diameter
self
adaptive
dry matter
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王德成
王海翼
尤泳
惠云婷
金峤
王天一
刘照启
张国锐
李芳旭
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China Agricultural University
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China Agricultural University
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B13/00—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion
    • G05B13/02—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric
    • G05B13/04—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators
    • G05B13/042—Adaptive control systems, i.e. systems automatically adjusting themselves to have a performance which is optimum according to some preassigned criterion electric involving the use of models or simulators in which a parameter or coefficient is automatically adjusted to optimise the performance
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

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Abstract

The invention relates to an electrohydraulic self-adaptive driving control system of a variable-diameter roller and a control method thereof, wherein the electrohydraulic self-adaptive driving control system comprises a hydraulic driving system, a servo driving system, an on-line quality monitoring system, a self-adaptive control system, a driving and controlling executing mechanism and a buzzer; the hydraulic driving system can realize the adjustment of the diameter of the roller and realize the self-locking after the diameter adjustment. The online quality monitoring system can monitor information such as offset, torque, dry matter content of materials, neutral washing fiber content, starch content, angle, oil pressure and the like of the shredding device, and flow and operation time in real time. The self-adaptive control system compares and judges the monitored parameters such as the dry matter content of the real-time material, the neutral washing fiber content, the starch content and the like with the corresponding parameter ranges in the reference model in the database, and the diameter of the roller is self-adaptively adjusted to realize the adjustment of the cutting length, and the microbial inoculum is self-adaptively sprayed, so that the problems of material blockage, uneven cutting, poor feeding effect and the like of a harvester or a hay cutter and other equipment in the cutting process during the harvesting and processing of forage are solved.

Description

Electro-hydraulic self-adaptive driving and controlling system for variable-diameter roller and control method thereof
Technical Field
The invention relates to an electrohydraulic self-adaptive driving control system of a variable-diameter roller and a control method thereof, belonging to the technical field of agricultural machinery.
Background
At present, the gap between the supply and demand of high-quality feeds in China is huge, besides the conditions of the variety of corns, the planting agriculture, the condition of a harvesting and storing cellar and the like, the advancement of a harvesting machine is a key factor for determining the quality of silage, the cutting length and the cutting uniformity of the silage are the most important factors for influencing the quality of the silage in the mechanical operation process, and the nutritional value and the milk production of cows in the lactation period can be improved or maintained by the cutting length and the cutting uniformity.
At present, a large-scale green feed harvester is difficult to adapt to the cutting requirements of complex and changeable green feeds. There are also obvious short plates such as: the technical bottlenecks of high-quality and high-efficiency cutting, intelligent measurement and control and the like are difficult to break through, and the problems of low operation efficiency, short service life of a cutter, low standard grass length rate, uneven cutting length, poor sharpening effect, poor reliability, high energy consumption, insufficient adaptability of crops such as silage corn, oat, alfalfa, hybrid pennisetum and the like, poor feed quality and the like are solved.
Therefore, the invention provides the variable-diameter roller electrohydraulic self-adaptive driving control system and the control method, which closely combine the important requirements on key core parts in the manufacturing of high-end agricultural machinery equipment in China, and improve the reliability and the intelligent degree of the key core parts.
Disclosure of Invention
The invention aims to solve the harvesting and shredding problems of high-quality main forage grass feeds such as whole silage corns, and provides a variable-diameter roller electrohydraulic self-adaptive driving control system and a control method thereof.
The technical scheme of the invention is as follows: in a first aspect, the invention provides an electro-hydraulic self-adaptive driving and controlling system for a variable-diameter roller, which comprises a hydraulic driving system, a servo driving system, a driving and controlling executing mechanism, an online quality monitoring system, a self-adaptive control system and a buzzer;
The hydraulic driving system, the servo driving system, the driving and controlling executing mechanism, the on-line quality monitoring system and the buzzer are all in communication connection with the self-adaptive control system;
the hydraulic driving system is used for controlling the driving executing mechanism and the servo driving system according to the control signal sent by the self-adaptive control system so as to realize the adjustment of the diameter of the roller and finish self-locking after the diameter adjustment;
the servo driving system and the driving and controlling executing mechanism are used for adjusting the diameter of the roller;
the online quality monitoring system is used for monitoring offset, rotation angle, material flow, oil pressure, roller diameter of the shredding device, timing data of a controller 013, material dry matter content and starch content data in real time;
the self-adaptive control system is used for calculating the roller diameter adjustment parameters in real time according to the offset, the rotation angle, the material flow, the oil pressure, the roller diameter, the timing data of the controller 013, the material dry matter content and the starch content data of the monitored cutting device, and adjusting control instructions of each actuating mechanism comprising a hydraulic driving system, a servo driving system, a driving actuating mechanism and an electromagnetic reversing valve based on the oil pressure, the material flow and the roller angle.
As a further scheme of the invention, the hydraulic driving system comprises a hydraulic motor 5, a pressure gauge 01, a one-way throttle valve I02, a connecting hydraulic cylinder 03, a one-way throttle valve II 04, a double-hydraulic-control one-way valve I05, a three-position four-way electromagnetic reversing valve I06, a synchronous valve I07, a logic valve 08, an electric injection pump switch, a two-position three-way electromagnetic reversing valve 09, an overflow valve I010, a speed regulating valve 011, an overflow valve II 012, a controller 013, an oil tank 014, a filter 015, a hydraulic pump 016, a two-position two-way electromagnetic reversing valve 017, a flowmeter 018, a three-position four-way electromagnetic reversing valve II 019, a one-way throttle valve III 020, a flow indicator 021, a synchronous valve II 022 and a double-hydraulic-control one-way valve II 023 which are connected with a driving executing mechanism 3;
the connecting hydraulic cylinder 03 is externally connected to a test bed or a harvester frame to play a role in auxiliary support and adjustment, and an oil inlet and an oil outlet of the connecting hydraulic cylinder are respectively connected with the one-way throttle valve II 02 and the one-way throttle valve I04; the oil inlet of the one-way throttle valve II 02 is connected with the oil outlet of the double-hydraulic control one-way valve II 023; an oil inlet of the one-way throttle valve I04 is connected with an oil outlet of the double-hydraulic control one-way valve I05; an oil inlet of the double-hydraulic control one-way valve I05 is connected with an oil outlet of the three-position four-way electromagnetic reversing valve I06, and an oil return path of the double-hydraulic control one-way valve I05 is connected with an oil inlet of the synchronous valve II 022; an oil outlet of the double-hydraulic control one-way valve I05 is connected with a pressure gauge 01;
An oil inlet of the three-position four-way electromagnetic directional valve I06 is connected with one of oil outlets of the synchronous valve I07, and an oil return port of the three-position four-way electromagnetic directional valve I06 is connected with the logic valve 08 and the oil tank 014; the oil outlet of the logic valve 08 is connected with six electric spraying pump switches, and the outlet of each electric spraying pump switch is connected with an overflow valve II 012 and an oil tank 014; the other oil outlet of the synchronous valve I07 is connected with the oil inlet of the one-way throttle valve I02, and the oil inlet of the synchronous valve I07 is connected with the oil outlet of the two-position three-way electromagnetic directional valve 09; the oil inlet of the two-position three-way electromagnetic directional valve 09 is connected with the oil inlet of the three-position four-way electromagnetic directional valve I06 and the throttle valve 011, the oil return port is connected with the oil tank 014, the oil inlet of the throttle valve 011 is connected with the oil outlet of the two-position two-way electromagnetic directional valve 017, and the hydraulic pump 016 is directly connected with the two-position two-way electromagnetic directional valve 017 and the oil inlet of the overflow valve II 012; an oil inlet of the three-position four-way electromagnetic directional valve II 019 is connected with the hydraulic pump 016, an oil outlet of the three-position four-way electromagnetic directional valve II 019 is connected with an oil inlet of the one-way throttle valve III 020, and an oil return port is connected with an oil inlet of the double-hydraulic control one-way valve II 023 and an oil inlet of the synchronous valve I07; the oil outlet of the one-way throttle valve III 020 is connected with the oil inlet of the flow indicator 021; the oil outlet of the flow indicator 021 is connected with the oil inlet of the synchronous valve II 022, and the oil outlet of the synchronous valve II 022 is connected with the double-hydraulic control one-way valve II 023; the oil port of the double-hydraulic control one-way valve II 023 is connected with the oil port of the hydraulic motor 5 through the pressure gauge 01, and the oil return path of the double-hydraulic control one-way valve II 023 is connected with the oil port of the synchronous valve I07.
As a further scheme of the invention, the servo driving system comprises a diameter adjusting cam 101, a folding reducing connecting rod 103, a servo motor I105, a reducing chute 106, a reducing web rod 107, an intermediate supporting web 108, a servo motor II 109, a tool setting wheel group 1013, a screw web pushing shaft 1014 and a cam connecting rod 1015;
the diameter adjusting cam 101 is fixedly connected with the variable-diameter amplitude rod 107 through a bolt and is arranged in a mortise of the front base 304 through a cam connecting rod 1015; the servo motor I105 is arranged on a corresponding installation hole position of the first middle supporting spoke plate 108 and is connected with a corresponding driving shaft and a screw spoke plate pushing shaft 1014 through a coupler; the servo motor II 109 is arranged on a mounting hole position corresponding to the end face of the bracket of the tool setting wheel set 1013, the servo motor II 109 is connected with the tool setting wheel set 1013, and the tool setting wheel set 1013 realizes automatic tool setting through ball self-rotation.
As a further scheme of the invention, the online quality monitoring system comprises a pressure gauge 01, a flowmeter 018, a flow indicator 021, an angle encoder 104, a wireless signal transmitting module 1010, a wireless signal receiving module 1011, a linear displacement sensor II 1012, a torque type flow sensor 4 and a near infrared spectrum sensor;
The linear displacement sensor I102 and the linear displacement sensor II 1012 are symmetrically arranged on one side surface of the variable-diameter amplitude rod 107 respectively, the angle encoders 104 are symmetrically arranged on the folding variable-diameter connecting rod 103 around two sides of the transmission main shaft 303, the wireless signal transmitting module 1010 and the wireless signal receiving module 1011 are arranged on the surface of the middle supporting amplitude disc 108, and the torque type flow sensor 4 is symmetrically arranged at the front end and the rear end of the transmission main shaft 303; the linear displacement sensor I102 and the linear displacement sensor II 1012 are used for monitoring the offset and displacement of the threshing variable-diameter amplitude rod 107 of the variable-diameter roller so as to determine the position of the threshing variable-diameter amplitude rod, and measuring the diameter of the roller in real time; the angle encoder 104 is used for monitoring the rotation angle of the folding reducing connecting rod 103 in real time and feeding back the diameter adjustment amount in real time according to the rotation angle; the pressure gauge 01 is connected between the hydraulic motor 5 and oil paths of the double-hydraulic control check valve I05 and the double-hydraulic control check valve II 023 and is used for monitoring the change of the oil pressure of an oil path cavity of the hydraulic motor 5 in real time; the flowmeter 018 is connected between an oil return path of the three-position four-way electromagnetic directional valve II 019 and an oil outlet path of the two-position two-way electromagnetic directional valve 017 and is used for monitoring the change of the oil pressure of an output cavity of the hydraulic pump in real time; the controller 013 is in communication connection with the hydraulic driving system, the servo driving system and the driving and controlling executing mechanism, is internally provided with various control programs and is connected with the buzzer 6 in parallel to play a role in early warning; the oil outlet of the flow indicator 021 is connected with the oil inlet of the synchronous valve II 022 and is used for monitoring the change of the oil pressure of the oil outlet cavity of the one-way throttle valve III 020 in real time; the near infrared spectrum sensor is externally connected and used for monitoring material data; specifically, the near infrared spectrum sensor is connected with a controller 013 in the online quality monitoring system;
The self-adaptive control system calculates the diameter adjustment parameters of the roller in real time according to the offset, rotation angle, flow, oil pressure, roller diameter, timing data of the controller 013, dry matter content of materials, starch content and other data of the online quality monitoring system, and adjusts control instructions of each actuating mechanism and the electromagnetic reversing valve based on the oil pressure, flow, angle and the like, and the self-adaptive control system comprises the controller 013.
On the other hand, the invention provides a control method of the variable-diameter roller electrohydraulic self-adaptive driving control system, which comprises the following steps:
firstly, establishing a silage quality index standard database and a near infrared spectrum database of high-quality forage (such as whole silage corn) with different harvest periods according to field tests, dividing different numerical range areas in the database, and constructing a multi-parameter related self-adaptive regulation and control model according to data such as offset, rotation angle, material flow, pressure, roller diameter, timing data of a controller, dry matter content, starch content and the like of a roller of an online quality monitoring system; the method comprises the steps of judging the interval range of parameters such as dry matter content and the like fed back by an online quality monitoring system in real time through a self-adaptive control system, calculating parameters required by diameter adjustment, adjusting control instructions of each actuating mechanism including a hydraulic driving system, a servo driving system, a driving actuating mechanism and an electromagnetic reversing valve based on oil pressure, material flow, angle and the like, timely controlling the hydraulic driving system, the servo driving system and the driving actuating mechanism to adjust the diameter of a roller, and enabling the hydraulic driving system, the servo driving system and the driving actuating mechanism to synchronously drive the diameter adjusting device to extend or retract to coordinate diameter adjustment.
As a further aspect of the present invention, the method includes:
after starting the operation, initializing an upper computer and peripheral equipment;
the controller 013 automatically checks the material initial dry matter information;
starting a self-adaptive cutting adjustment program, otherwise, manually rotating the driving wheel to finish diameter adjustment;
after the self-adaptive cutting adjustment program is started, the field operation time length, the feeding quantity and the operation area data are counted according to the test experience and the user requirement, an operation process professional database is established, and the variable diameter judgment requirement is input according to the actual requirement and the user feeding standard;
after the setting of the judging standard is finished, the near infrared spectrum sensor detects the dry matter content and other components and stores the dry matter content and other components in a storage unit of the controller 013;
starting an adaptive microbial inoculum adding program, and calling the latest dry matter content and other component data in a storage unit by the controller 013, comparing neutral washing fiber content, dry matter content and starch content data in the near infrared spectrum sensor with a silage quality index standard database, and judging a range interval corresponding to an index;
the controller 013 outputs corresponding cutting length and fungus agent spraying instructions according to the compared data range interval, circularly executes the self-adaptive fungus agent adding instructions, executes the self-adaptive cutting adjusting instructions according to the set variable-diameter requirements, and the operator assists in judging whether the self-adaptive cutting adjustment is needed or not, if so, the variable-diameter judging requirements are set, otherwise, a reset instruction is executed, and the servo driving system and the driving and controlling executing mechanism are controlled to finish reset and automatic tool setting.
As a further scheme of the invention, the self-adaptive cutting adjustment flow is as follows: after starting the self-adaptive variable diameter adjustment, detecting the dry matter content of the material in the initial ground area of the operation, inputting the dry matter content into a controller 013, calibrating initial position parameters of the roller by integrating oil pressure, material flow, angle encoder values, offset and the like, judging whether the roller meets the diameter adjustment requirement, alarming by a buzzer if the roller diameter is at the maximum or exceeds the adjustment control range and the like and does not meet the adjustment requirement, prompting reset operation, and calibrating the initial position parameters of the roller again; when the adjustment requirement is met, starting the machine to perform harvesting operation, detecting the dry matter content of the materials in 1s by a near infrared spectrum sensor, comparing the dry matter content of the initial ground, judging whether the difference value of the dry matter content is within a 3 percent range, if the difference value is more than 3 percent, searching the regional operation again by a harvester, collecting dry matter content information, continuously judging the dry matter difference value range, and when the difference value is less than 3 percent, reading the dry matter content of the materials in 1s detected by the near infrared spectrum sensor, and judging the dry matter content interval; when the dry matter content m is less than 22%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, and the controller 013 controls the diameter to be 551-661 mm according to the self-adaptive regulation and control model, so that the adjustment of the cutting length to be 9-11 mm is realized; when the dry matter content m is more than or equal to 22%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, the diameter of the controller 013 is controlled to be 425-495 mm according to the self-adaptive regulation and control model, and the cutting length is adjusted to be 12-14 mm; when the dry matter content m is less than 33%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, the diameter of the controller 013 is controlled to be 495-1189 mm according to the self-adaptive regulation and control model, and the adjustment of the cutting length of less than 12mm, specifically 5-12 mm is realized; when the dry matter content m is more than or equal to 33%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, the diameter of the controller 013 is controlled to be 296-396 mm according to the self-adaptive regulation and control model, and the adjustment of the cutting length of 15-20 mm is realized.
As a further scheme of the invention, the minimum initial diameter of the roller is 238mm, and the cutter 12 is arranged at the rotating speed of 1200r/min; the self-adaptive regulation and control model accords with y 1 ＝7E-11x 1 4 -2E-07x 1 3 +0.0003x 1 2 -0.1936x 1 +55.771, where y 1 To cut length, x 1 Is the diameter of the roller;
or the adaptive regulation and control model logically accords with y in time 2 ＝-1.8427x 2 2 +87.328x 2 +193.82, where y 2 For cylinder diameter x 2 The time required for adjusting the minimum initial diameter of the roller to the corresponding diameter from zero, namely 238 mm; or the self-adaptive regulation and control model logically accords with y according to the radian of the rotation angle 3 ＝-0.0478x 3 2 +14.148x 3 +201.52, where y 3 For cylinder diameter x 3 The rotation angle radian required for adjusting to the corresponding diameter from zero angle, i.e. 238mm of the minimum initial diameter of the roller.
As a further scheme of the invention, after the upper computer and the peripheral equipment are initialized, an adaptive microbial inoculum spraying program is started, otherwise, the microbial inoculum is sprayed by manual remote control, the controller 013 automatically detects the residual quantity of the additive in the medicine box, judges whether the residual quantity of the additive reaches a warning value, if the residual quantity of the medicine box is insufficient, a buzzer alarms, a display displays the residual quantity of the medicine box in real time, and stopping and dosing are prompted; when the medicine box is sufficient in allowance, the near infrared spectrum sensor detects the content of neutral washing fiber, starch and dry matter, and the controller 013 reads and stores the content n of the initial neutral washing fiber, the content m of the initial dry matter and the content s of the initial starch of the near infrared spectrum sensor, and judges the content interval of the neutral washing fiber, the starch and the dry matter; when the neutral washing fiber content n is less than 40%, if the neutral washing fiber content n is less than 30%, the logic valve 08 judges the closing priority of the medicine spraying pump I and sprays lactobacillus preparation preferentially, and if the neutral washing fiber content n is more than or equal to 30%, the logic valve 08 judges the closing priority of the medicine spraying switch, and preferably, the medicine spraying pump II and sprays organic acid preparation are turned on; when the content of neutral washing fiber is 40% < n <55%, the logic valve 08 judges the closing priority of the medicine spraying pump III is firstly connected, organic acid salt preparation is sprayed, and when the content of neutral washing fiber is more than or equal to 55%, the logic valve 08 judges the closing priority of the medicine spraying switch, the medicine spraying pump IV is firstly connected, and cellulase preparation is sprayed; when the content of neutral washing fiber is 40% < n <55%, the logic valve 08 judges the closing priority of the medicine spraying pump III is firstly connected, organic acid salt preparation is sprayed, and when the content of neutral washing fiber is more than or equal to 55%, the logic valve 08 judges the closing priority of the medicine spraying switch, the medicine spraying pump IV is firstly connected, and cellulase preparation is sprayed; when the dry matter content is 22% < m <28%, and the starch content is 20% < s <25%, the logic valve 08 judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump I is preferably connected to spray the lactobacillus preparation; when the dry matter content m is less than 22% and the starch content s is less than 20%, the logic valve 08 judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump V is preferably connected to spray the formic acid inhibitor; when the dry matter content is 28% < m <33%, the starch content is 25% < s <30%, the logic valve 08 judges the closing priority of the spraying switch, and the electric spraying pump VI is preferably connected to spray the mixture of the lactobacillus preparation and the formic acid inhibitor; when the dry matter content m is more than or equal to 33% and the starch content s is more than or equal to 30%, the logic valve 08 judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump V is preferably connected to spray the formic acid inhibitor.
As a further scheme of the invention, the control strategy of the self-adaptive control system for adjusting the diameter of the roller, namely adjusting the length of the cut section and spraying the microbial inoculum is as follows: when the near infrared spectrum sensor of the online quality monitoring system monitors that the data of neutral washing fiber, dry matter, starch and the like of materials are not in the range of the corresponding database reference values in the multi-parameter self-adaptive regulation and control model, the controller 013 converts the judging result of the self-adaptive control system into an electric signal to be transmitted to the control coil of the three-position four-way electromagnetic reversing valve II 019 of the hydraulic driving system, the hydraulic motor 5 is connected, the reducing driving wheel 302 and the reducing driven wheel 301 of the forward or reverse driving and controlling executing mechanism 3 synchronously rotate for a certain angle or a certain moment, and meanwhile, the self-adaptive control system transmits the electric signal to the servo driving system, the servo motor I105 is driven to rotate forward or reversely to drive the middle supporting web 108 to rotate along the screw-type web pushing shaft 1014, so that the folding reducing connecting rod 103 rotates to enable the reducing web 107 to complete the reducing adjustment along the reducing sliding groove 106, and the double reducing adjustment of extrapolation and servo driving are synchronously carried out; when the angle encoder 104 monitors that the angle signal reaches the adjustment value and the monitoring data of the linear displacement sensor I102 and the linear displacement sensor II 1012 have no offset, the online quality monitoring system transmits information to the self-adaptive control system, the self-adaptive control system outputs a control signal to enable the three-position four-way electromagnetic reversing valve II 019 to be in the middle position, the diameter of the roller is adjusted, the one-way throttle valve III 020 is closed, and the oil way is cut off to complete self-locking; if the data of the neutral washing fiber content, the dry matter content, the starch content and the like of the materials, which are monitored by the near infrared spectrum sensor after the set operation requirement, correspond to the model in the standard database after the diameter of the roller is adjusted, the self-adaptive control system does not output an adjusting signal any more; if the online quality monitoring system monitors that the near infrared spectrum sensor monitors that the data such as the neutral washing fiber content, the dry matter content, the starch content and the like of the material are not in the corresponding parameter ranges in the standard database model after the set operation requirement is finished, the self-adaptive control system continues to execute the self-adaptive diameter adjustment; the self-adaptive control system judges that the content of neutral washing fiber, starch and dry matter in the online quality monitoring system corresponds to the middle area range in the database, and further controls the logic valve 08 and the electric spraying pump switches (I-VI) of the hydraulic driving system to circularly execute self-adaptive microbial inoculum spraying.
The beneficial effects of the invention are as follows:
1. the invention solves the problems of material blockage, uneven cutting length, poor feeding effect and the like of a harvester or a hay cutter and other equipment in the cutting process during the harvesting and processing of forage. The invention can improve the fault-free working time of the diameter-variable roller, reduce the adjusting time and the harvesting efficiency;
2. the invention has the advantages of complete functions, simple operation, economy, applicability, low cost and high intelligent degree, has good shredding performance, uniform shredding and high efficiency in the shredding process, can quickly, accurately and effectively adaptively adjust the shredding length of the shredding device in real time and realize the spraying of the self-adaptive microbial inoculum, and is stably adapted to various main stream models so as to solve the problems of difficult cutter adjustment, poor reliability, poor feed fermentation quality and the like in the ensilage forage shredding process;
3. the invention realizes the diameter self-adaptive regulation and control of the shredding roller based on multiple parameters of multiple sensor groups so as to realize stepless regulation of the cutting length; the complex requirements of different forage varieties, different operation areas and different operation periods of high-quality green feeds such as green feed corns, high-protein mulberry and hybrid pennisetum are met, the mechanization level and the intelligent level of equipment of green feed harvest are improved, the comprehensive utilization rate of straws is improved, the intensive operation of the green feed is realized, the utilization and conversion efficiency of forage is improved, and the nutrition loss is reduced.
Drawings
FIG. 1 is a simplified schematic diagram of a variable diameter drum and an adaptive drive control system hardware architecture;
FIG. 2 is a schematic diagram of servo drive system hardware and sensor mounting locations;
FIG. 3 is a schematic diagram of a hydraulic drive system;
FIG. 4 is a flow chart of the operation of the variable diameter drum and the adaptive drive control system;
FIG. 5 is a flow chart of an adaptive diameter adjustment workflow of a variable diameter drum and an adaptive drive control system;
FIG. 6 is a flow chart of the adaptive microbial inoculum spraying operation of the variable diameter cylinder and the adaptive drive control system.
The reference numerals in fig. 1-6: 1-a hydraulic driving system, 4-a torque type flow sensor and 5-a hydraulic motor; 301-a variable-diameter driven wheel, 302-a variable-diameter driving wheel, 303-a transmission main shaft, 304-a front base, 305-a variable-diameter bolt and 306-a variable-diameter sliding rail; 01-pressure gauge, 02-one-way throttle valve I, 03-connection hydraulic cylinder, 04-one-way throttle valve II, 05-double pilot operated one-way valve I, 06-three-position four-way electromagnetic directional valve I, 07-synchronous valve I, 08-logic valve, 09-two-position three-way electromagnetic directional valve, 010-overflow valve I, 011-speed regulating valve, 012-overflow valve II, 013-controller, 014-oil tank, 015-filter, 016-hydraulic pump, 017-two-position two-way electromagnetic directional valve, 018-flowmeter, 019-three-position four-way electromagnetic directional valve II, 020-one-way throttle valve III, 021-flow indicator, 022-synchronous valve II, 023-double pilot operated one-way valve II; the device comprises a diameter adjusting cam, a 102-linear displacement sensor I, a 103-folding reducing connecting rod, a 104-angle encoder, a 105-servo motor I, a 106-reducing chute, a 107-reducing amplitude rod, a 108-middle supporting amplitude disc, a 109-servo motor II, a 1010-wireless signal transmitting module, a 1011-wireless signal receiving module, a 1012-linear displacement sensor II, 1013-tool setting wheel set, 1014-screw amplitude disc pushing shaft and 1015-cam connecting rod.
Detailed Description
The invention will be further described with reference to the drawings and the specific examples.
Example 1: 1-6, the electro-hydraulic self-adaptive driving and controlling system of the variable-diameter roller and the control method thereof comprise a hydraulic driving system 1, a servo driving system, a driving and controlling executing mechanism, an online quality monitoring system, a self-adaptive control system and a buzzer;
the hydraulic driving system 1 comprises a hydraulic motor 5, a pressure gauge 01, a one-way throttle valve I02, a connecting hydraulic cylinder 03, a one-way throttle valve II 04, a double-hydraulic-control one-way valve I05, a three-position four-way electromagnetic reversing valve I06, a synchronous valve I07, a logic valve 08, an electric spraying pump switch, a two-position three-way electromagnetic reversing valve 09, an overflow valve I010, a speed regulating valve 011, an overflow valve II 012, a controller 013, an oil tank 014, a filter 015, a hydraulic pump 016, a two-position two-way electromagnetic reversing valve 017, a flowmeter 018, a three-position four-way electromagnetic reversing valve II 019, a one-way throttle valve III 020, a flow indicator 021, a synchronous valve II 022 and a double-hydraulic-control one-way valve II 023;
the connecting hydraulic cylinder 03 is externally connected to a test bed or a harvester frame to play a role in auxiliary support and adjustment, and an oil inlet and an oil outlet of the connecting hydraulic cylinder are respectively connected with the one-way throttle valve II 02 and the one-way throttle valve I04; the oil inlet of the one-way throttle valve II 02 is connected with the oil outlet of the double-hydraulic control one-way valve II 023; an oil inlet of the one-way throttle valve I04 is connected with an oil outlet of the double-hydraulic control one-way valve I05; an oil inlet of the double-hydraulic control one-way valve I05 is connected with an oil outlet of the three-position four-way electromagnetic reversing valve I06, and an oil return path of the double-hydraulic control one-way valve I05 is connected with an oil inlet of the synchronous valve II 022; an oil outlet of the double-hydraulic control one-way valve I05 is connected with a pressure gauge 01;
An oil inlet of the three-position four-way electromagnetic directional valve I06 is connected with one of oil outlets of the synchronous valve I07, and an oil return port of the three-position four-way electromagnetic directional valve I06 is connected with the logic valve 08 and the oil tank 014; the oil outlet of the logic valve 08 is connected with six electric spraying pump switches, and the outlet of each electric spraying pump switch is connected with an overflow valve II 012 and an oil tank 014; the other oil outlet of the synchronous valve I07 is connected with the oil inlet of the one-way throttle valve I02, and the oil inlet of the synchronous valve I07 is connected with the oil outlet of the two-position three-way electromagnetic directional valve 09; the oil inlet of the two-position three-way electromagnetic directional valve 09 is connected with the oil inlet of the three-position four-way electromagnetic directional valve I06 and the throttle valve 011, the oil return port is connected with the oil tank 014, the oil inlet of the throttle valve 011 is connected with the oil outlet of the two-position two-way electromagnetic directional valve 017, and the hydraulic pump 016 is directly connected with the two-position two-way electromagnetic directional valve 017 and the oil inlet of the overflow valve II 012; an oil inlet of the three-position four-way electromagnetic directional valve II 019 is connected with the hydraulic pump 016, an oil outlet of the three-position four-way electromagnetic directional valve II 019 is connected with an oil inlet of the one-way throttle valve III 020, and an oil return port is connected with an oil inlet of the double-hydraulic control one-way valve II 023 and an oil inlet of the synchronous valve I07; the oil outlet of the one-way throttle valve III 020 is connected with the oil inlet of the flow indicator 021; the oil outlet of the flow indicator 021 is connected with the oil inlet of the synchronous valve II 022, and the oil outlet of the synchronous valve II 022 is connected with the double-hydraulic control one-way valve II 023; the oil port of the double-hydraulic control one-way valve II 023 is connected with the oil port of the hydraulic motor 5 through the pressure gauge 01, and the oil return path of the double-hydraulic control one-way valve II 023 is connected with the oil port of the synchronous valve I07.
Further, the servo driving system comprises a diameter adjusting cam 101, a folding reducing connecting rod 103, a servo motor I105, a reducing chute 106, a reducing web rod 107, an intermediate supporting web 108, a servo motor II 109, a tool setting wheel group 1013, a screw web pushing shaft 1014 and a cam connecting rod 1015;
the diameter adjusting cam 101 is fixedly connected with the variable-diameter amplitude rod 107 through a bolt and is arranged in a mortise of the front base 304 through a cam connecting rod 1015; the servo motor I105 is arranged on a corresponding installation hole position of the first middle supporting spoke plate 108 and is connected with a corresponding driving shaft and a screw spoke plate pushing shaft 1014 through a coupler; the servo motor II 109 is arranged on a mounting hole position corresponding to the end face of the bracket of the tool setting wheel set 1013, the servo motor II 109 is connected with the tool setting wheel set 1013, and the tool setting wheel set 1013 realizes automatic tool setting through ball self-rotation.
Further, the online quality monitoring system comprises a pressure gauge 01, a controller 013, a flowmeter 018, a flow indicator 021, an angle encoder 104, a wireless signal transmitting module 1010, a wireless signal receiving module 1011, a linear displacement sensor II 1012, a torque type flow sensor 4 and a near infrared spectrum sensor;
The linear displacement sensor I102 and the linear displacement sensor II 1012 are symmetrically arranged on one side surface of the variable-diameter amplitude rod 107 respectively, the angle encoders 104 are symmetrically arranged on the folding variable-diameter connecting rod 103 around two sides of the transmission main shaft 303, the wireless signal transmitting module 1010 and the wireless signal receiving module 1011 are arranged on the surface of the middle supporting amplitude disc 108, and the torque type flow sensor 4 is symmetrically arranged at the front end and the rear end of the transmission main shaft 303; the linear displacement sensor I102 and the linear displacement sensor II 1012 are used for monitoring the offset and displacement of the threshing variable-diameter amplitude rod 107 of the variable-diameter roller so as to determine the position of the threshing variable-diameter amplitude rod, and measuring the diameter of the roller in real time; the angle encoder 104 is used for monitoring the rotation angle of the folding reducing connecting rod 103 in real time and feeding back the diameter adjustment amount in real time according to the rotation angle; the pressure gauge 01 is connected between the hydraulic motor 5 and oil paths of the double-hydraulic control check valve I05 and the double-hydraulic control check valve II 023 and is used for monitoring the change of the oil pressure of an oil path cavity of the hydraulic motor 5 in real time; the flowmeter 018 is connected between an oil return path of the three-position four-way electromagnetic directional valve II 019 and an oil outlet path of the two-position two-way electromagnetic directional valve 017 and is used for monitoring the change of the oil pressure of an output cavity of the hydraulic pump in real time; the controller 013 is in communication connection with the hydraulic driving system, the servo driving system and the driving and controlling executing mechanism, is internally provided with various control programs and is connected with the buzzer 6 in parallel to play a role in early warning; the oil outlet of the flow indicator 021 is connected with the oil inlet of the synchronous valve II 022 and is used for monitoring the change of the oil pressure of the oil outlet cavity of the one-way throttle valve III 020 in real time; the near infrared spectrum sensor is externally connected and used for monitoring material data; specifically, the near infrared spectrum sensor is connected with a controller 013 in the online quality monitoring system;
The self-adaptive control system calculates the diameter adjustment parameters of the roller in real time according to the offset, the rotation angle, the flow, the pressure, the roller diameter, the timing data of the controller 013, the dry matter content of materials, the starch content and other data of the online quality monitoring system, and adjusts the control instructions of each actuating mechanism and the electromagnetic reversing valve based on oil pressure, the flow, the angle and the like; the adaptive control system includes a controller 013.
The driving and controlling executing mechanism comprises a diameter adjusting cam 101, a diameter-changing driven wheel 301, a diameter-changing driving wheel 302, a hydraulic motor 5, a transmission main shaft 303, a front base 304, a diameter-changing bolt 305, a diameter-changing slide rail 306, a cam connecting rod 1015 and a torque type flow sensor 4; the folding reducing connecting rod 103, the reducing sliding groove 106, the reducing amplitude rod 107, the middle supporting amplitude disc 108, the tool setting wheel group 1013, the screw type amplitude disc pushing shaft 1014 and the reducing amplitude rod 107 are also included;
the diameter adjusting cam 101 is uniformly distributed with a plurality of roller bodies around the axle center of the front base 304; the cam connecting rod 1015 with a tenon structure fixedly connected to the lower inner side of the diameter adjusting cam 101 is connected in a mortise corresponding to the front cylinder base 304; the reducing driving wheel 302 is connected with the front base 304 through a reducing driving wheel belt seat bearing and is connected with a power output shaft of the hydraulic motor 5 through a reducing driving wheel coupler; the external teeth of the variable-diameter driven wheel 301 are meshed with the variable-diameter driving wheel 302 and are arranged on the transmission main shaft 303 through variable-diameter driven wheel bearings, a plurality of variable-diameter sliding rails 306 corresponding to the number of the diameter adjustment cams 101 are uniformly distributed on the variable-diameter driven wheel 301 along the axis, variable-diameter bolts 305 tangential to the groove surfaces of the sliding rails are arranged in the variable-diameter sliding rails 306, the other ends of the variable-diameter bolts 305 are fixedly connected with cam connecting rods 1015, the hydraulic motor 5 drives the variable-diameter driving wheel 302 and the variable-diameter driven wheel 301 to rotate, and the variable-diameter bolts 305 drive the diameter adjustment cams 101 to finish first heavy diameter adjustment and resetting under the friction action of the variable-diameter driven wheel 301.
The variable diameter roller electrohydraulic self-adaptive driving control system comprises the following specific working processes: specifically, the servo driving system and the driving and controlling executing mechanism can refer to a self-adaptive diameter-changing roller in the application number 202210639116.4, when a green fodder harvester or a test bed and the like are operated, the feeding flow condition of materials at the front end of the roller is monitored in real time according to a torque type flow sensor 4, a near infrared spectrum sensor grabs dry matter information of the materials according to a defined rule, when the fluctuation of the feeding quantity is detected to be large or the dry matter content is in an adjusting interval, the diameter of the roller needs to be adjusted to adjust each working parameter, an electric signal is transmitted to a controller 013 to judge the data of neutral washing fiber, starch, dry matter content and the like and the interval of a model in a database, the diameter-changing range is calculated, and a diameter-changing instruction is issued, the electric signal output by the controller 013 controls the positions of a three-position four-way electromagnetic directional valve II 019, a two-position three-way electromagnetic directional valve 09 and a two-position two-way electromagnetic directional valve 017 in the hydraulic driving system, the opening of the three-position four-way electromagnetic directional valve II 019 is continuously adjusted, the input and output flow of the hydraulic motor 5 is controlled, the flow meter 018 detects the real-time flow, a timing module in the controller 013 counts time, an angle encoder and a linear displacement sensor monitor data and timely feed back, the hydraulic motor 5 drives the reducing driving wheel 302 to rotate, the reducing driven wheel 301 is driven to rotate to generate a driven reducing bolt 305 to slide along a reducing sliding rail 306, and then the cam connecting rod 1015 is driven to slide in a tongue groove to finish diameter adjustment; the angle encoder 104, the linear displacement sensor I102, the linear displacement sensor II 1012 and the torque type flow sensor 4 monitor data feedback, and meanwhile, an electric signal output by the controller 013 is transmitted to the servo motor I105 through the wireless signal receiving module 1011, the servo motor I105 drives the screw type web disc pushing shaft 1014, so that the middle supporting web disc 108 is pushed to slide along the screw type web disc pushing shaft 1014, the folding reducing connecting rod 103 performs rotary motion, the reducing web rod 107 completes telescopic motion, and further the second diameter adjustment of the diameter adjustment device is completed, the first diameter adjustment and the second diameter adjustment are generally kept synchronous, and the two diameter adjustment paths synchronously drive the diameter adjustment device to extend or retract under the cooperation of the control system and the hydraulic driving system; the angle encoder 104, the linear displacement sensor I102, the linear displacement sensor II 1012 and the torque type flow sensor 4 are connected with the controller 013 through a wireless signal transmitting module 1010 and a wireless signal receiving module 1011, and the controller 013 is connected with the servo motor I105 through the wireless signal transmitting module 1010 and the wireless signal receiving module 1011; the servo motor I105 is connected with the screw type web disc pushing shaft 1014 through a coupler, and the screw type web disc pushing shaft 1014 penetrates through the middle supporting web disc 108 to be connected with threads;
When the linear displacement sensor I102 and the linear displacement sensor II 1012 detect deviation, an electric signal of the linear displacement sensor and a PWM signal of the angle encoder 104 are transmitted to the controller 013 through the wireless signal transmitting module 1010, the controller 013 processes the PWM signal of the angle encoder 104 and then outputs the electric signal to the three-position four-way electromagnetic directional valve II 019 in the hydraulic driving system, and then the opening of the three-position four-way electromagnetic directional valve 019 is proportionally increased until the linear displacement sensor detects no deviation, and the opening of the three-position four-way electromagnetic directional valve 019 is closed to an un-increased state in the initial working process; when the linear displacement sensor I102 or the linear displacement sensor II 1012 detects backward deviation, an electric signal of the linear displacement sensor and a PWM signal of the angle encoder 104 are transmitted to the controller 013 through the wireless signal transmitting module 1010, the controller 013 processes the PWM signal of the angle encoder 104 and outputs the electric signal to the wireless signal receiving module 1011, the electric signal is returned to the servo motor I105 through the wireless signal receiving module 1011, the servo motor I105 accelerates the driving screw type amplitude disc pushing shaft 1014 to finish variable acceleration diameter adjustment until the linear displacement sensor detects no deviation, and the rotating speed of the servo motor I105 is restored to an un-accelerated state when the servo motor I105 works initially; during diameter adjustment, the servo motor and the hydraulic motor keep synchronous driving in unit time, the variable-diameter plug pin 305 and the cam connecting rod 1015 finish millimeter-level fixed-point timing sliding in unit time according to a hydraulic motor driving and controlling model of the controller 013, accurate diameter adjustment is realized, the folding variable-diameter connecting rod 103 and the variable-diameter amplitude rod 107 finish millimeter-level fixed-point timing rotating of the folding variable-diameter amplitude rod in unit time according to a servo motor driving and controlling model of the controller 013, and telescopic movement is finished, so that double adjustment and parity are ensured;
When the diameter of the roller is required to be locked after the diameter of the roller is adjusted, the three-position four-way electromagnetic directional valve II 019 is positioned in the middle position, the two-position three-way electromagnetic directional valve 09 is positioned in the right position, the two-position two-way electromagnetic directional valve 017 is positioned in the right position, so that an oil way is not communicated and self-locking is performed, and meanwhile, the controller 013 sends a servo motor empty instruction to cause the servo motor I105 to be self-locked, so that the double self-locking function of the roller after the diameter is adjusted can be effectively ensured, and the operation stability and the safety are ensured; when the cutter is worn or the position and the posture of the roller are required to be adjusted, an electric signal output by the controller 013 is transmitted to the servo motor II 109 through the wireless signal receiving module 1011, the servo motor II 109 drives the cutter setting wheel group 1013 to finish cutter setting and position changing of a cutter setting system, and after cutter setting is finished, the wireless signal transmitting module 1010 transmits a cutter setting finishing signal to the controller 013, and the controller 013 gives an empty instruction to the servo motor II 109 to finish self-locking.
On the other hand, the invention provides a control method of the variable diameter roller electrohydraulic self-adaptive driving control system, which comprises the following steps:
firstly, establishing a silage quality index standard database and a near infrared spectrum database of high-quality forage (such as whole silage corn) with different harvest periods according to field tests, dividing different numerical range areas in the database, and constructing a multi-parameter related self-adaptive regulation and control model according to data such as offset, rotation angle, material flow, pressure, roller diameter, timing data of a controller, dry matter content, starch content and the like of a roller of an online quality monitoring system; the method comprises the steps of judging the interval range of parameters such as dry matter content and the like fed back by an online quality monitoring system in real time through a self-adaptive control system, calculating parameters required by diameter adjustment, adjusting control instructions of each actuating mechanism including a hydraulic driving system, a servo driving system, a driving actuating mechanism and an electromagnetic reversing valve based on oil pressure, material flow, angle and the like, timely controlling the hydraulic driving system, the servo driving system and the driving actuating mechanism to adjust the diameter of a roller, and enabling the hydraulic driving system, the servo driving system and the driving actuating mechanism to synchronously drive the diameter adjusting device to extend or retract to coordinate diameter adjustment.
Further, the method comprises:
after starting the operation, initializing an upper computer and peripheral equipment;
the controller 013 automatically checks the material initial dry matter information;
starting a self-adaptive cutting adjustment program, otherwise, manually rotating the driving wheel to finish diameter adjustment;
after the self-adaptive cutting adjustment program is started, the field operation time length, the feeding quantity and the operation area data are counted according to the test experience and the user requirement, an operation process professional database is established, and the variable diameter judgment requirement is input according to the actual requirement and the user feeding standard;
after the setting of the judging standard is finished, the near infrared spectrum sensor detects the dry matter content and other components and stores the dry matter content and other components in a storage unit of the controller 013;
starting an adaptive microbial inoculum adding program, and calling the latest dry matter content and other component data in a storage unit by the controller 013, comparing neutral washing fiber content, dry matter content and starch content data in the near infrared spectrum sensor with a silage quality index standard database, and judging a range interval corresponding to an index;
the controller 013 outputs corresponding cutting length and fungus agent spraying instructions according to the compared data range interval, circularly executes the self-adaptive fungus agent adding instructions, executes the self-adaptive cutting adjusting instructions according to the set variable-diameter requirements, and the operator assists in judging whether the self-adaptive cutting adjustment is needed or not, if so, the variable-diameter judging requirements are set, otherwise, a reset instruction is executed, and the servo driving system and the driving and controlling executing mechanism are controlled to finish reset and automatic tool setting.
Further, the self-adaptive cutting adjustment process comprises the following steps: after starting the self-adaptive variable diameter adjustment, detecting the dry matter content of the material in the initial ground area of the operation, inputting the dry matter content into a controller 013, calibrating initial position parameters of the roller by integrating oil pressure, material flow, angle encoder values, offset and the like, judging whether the roller meets the diameter adjustment requirement, alarming by a buzzer if the roller diameter is at the maximum or exceeds the adjustment control range and the like and does not meet the adjustment requirement, prompting reset operation, and calibrating the initial position parameters of the roller again; when the adjustment requirement is met, starting the machine to perform harvesting operation, detecting the dry matter content of the materials in 1s by a near infrared spectrum sensor, comparing the dry matter content of the initial ground, judging whether the difference value of the dry matter content is within a 3 percent range, if the difference value is more than 3 percent, searching the regional operation again by a harvester, collecting dry matter content information, continuously judging the dry matter difference value range, and when the difference value is less than 3 percent, reading the dry matter content of the materials in 1s detected by the near infrared spectrum sensor, and judging the dry matter content interval; when the dry matter content m is less than 22%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, and the controller 013 controls the diameter to be 551-661 mm according to the self-adaptive regulation and control model, so that the adjustment of the cutting length to be 9-11 mm is realized; when the dry matter content m is more than or equal to 22%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, the diameter of the controller 013 is controlled to be 425-495 mm according to the self-adaptive regulation and control model, and the cutting length is adjusted to be 12-14 mm; when the dry matter content m is less than 33%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, the diameter of the controller 013 is controlled to be 495-1189 mm according to the self-adaptive regulation and control model, and the adjustment of the cutting length of less than 12mm, specifically 5-12 mm is realized; when the dry matter content m is more than or equal to 33%, the three-position four-way electromagnetic reversing valve II 019 is electrified to open an oil inlet and outlet way, the hydraulic motor 5 is connected, the diameter of the controller 013 is controlled to be 296-396 mm according to the self-adaptive regulation and control model, and the adjustment of the cutting length of 15-20 mm is realized.
Further, the minimum initial diameter of the roller is 238mm, and the cutter 12 handle is arranged at the rotating speed of 1200r/min; the self-adaptive regulation and control model accords with y 1 ＝7E-11x 1 4 -2E-07x 1 3 +0.0003x 1 2 -0.1936x 1 +55.771, where y 1 To cut length, x 1 Is the diameter of the roller;
or the adaptive regulation and control model logically accords with y in time 2 ＝-1.8427x 2 2 +87.328x 2 +193.82, where y 2 For cylinder diameter x 2 The time required for adjusting the minimum initial diameter of the roller to the corresponding diameter from zero, namely 238 mm; or the self-adaptive regulation and control model logically accords with y according to the radian of the rotation angle 3 ＝-0.0478x 3 2 +14.148x 3 +201.52, where y 3 For cylinder diameter x 3 To be from zero angleThe minimum initial diameter of the roller is 238mm, and the rotation angle radian required by the corresponding diameter is adjusted.
Further, after initializing the upper computer and the peripheral equipment, starting a self-adaptive microbial inoculum spraying program, otherwise, manually remotely controlling to spray microbial inoculum, and automatically detecting the additive allowance in the medicine box by the controller 013, judging whether the additive allowance reaches a warning value, alarming by the buzzer if the medicine box allowance is insufficient, displaying the real-time medicine box allowance by the display, and prompting shutdown and dosing; when the medicine box is sufficient in allowance, the near infrared spectrum sensor detects the content of neutral washing fiber, starch and dry matter, and the controller 013 reads and stores the content n of the initial neutral washing fiber, the content m of the initial dry matter and the content s of the initial starch of the near infrared spectrum sensor, and judges the content interval of the neutral washing fiber, the starch and the dry matter; when the neutral washing fiber content n is less than 40%, if the neutral washing fiber content n is less than 30%, the logic valve 08 judges the closing priority of the medicine spraying pump I and sprays lactobacillus preparation preferentially, and if the neutral washing fiber content n is more than or equal to 30%, the logic valve 08 judges the closing priority of the medicine spraying switch, and preferably, the medicine spraying pump II and sprays organic acid preparation are turned on; when the content of neutral washing fiber is 40% < n <55%, the logic valve 08 judges the closing priority of the medicine spraying pump III is firstly connected, organic acid salt preparation is sprayed, and when the content of neutral washing fiber is more than or equal to 55%, the logic valve 08 judges the closing priority of the medicine spraying switch, the medicine spraying pump IV is firstly connected, and cellulase preparation is sprayed; when the content of neutral washing fiber is 40% < n <55%, the logic valve 08 judges the closing priority of the medicine spraying pump III is firstly connected, organic acid salt preparation is sprayed, and when the content of neutral washing fiber is more than or equal to 55%, the logic valve 08 judges the closing priority of the medicine spraying switch, the medicine spraying pump IV is firstly connected, and cellulase preparation is sprayed; when the dry matter content is 22% < m <28%, and the starch content is 20% < s <25%, the logic valve 08 judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump I is preferably connected to spray the lactobacillus preparation; when the dry matter content m is less than 22% and the starch content s is less than 20%, the logic valve 08 judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump V is preferably connected to spray the formic acid inhibitor; when the dry matter content is 28% < m <33%, the starch content is 25% < s <30%, the logic valve 08 judges the closing priority of the spraying switch, and the electric spraying pump VI is preferably connected to spray the mixture of the lactobacillus preparation and the formic acid inhibitor; when the dry matter content m is more than or equal to 33% and the starch content s is more than or equal to 30%, the logic valve 08 judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump V is preferably connected to spray the formic acid inhibitor.
Further, the control strategy of the self-adaptive control system for adjusting the diameter of the roller, namely adjusting the length of the cut section and spraying the microbial inoculum is as follows: when the near infrared spectrum sensor of the online quality monitoring system monitors that the data of neutral washing fiber, dry matter, starch and the like of materials are not in the range of the corresponding database reference values in the multi-parameter self-adaptive regulation and control model, the controller 013 converts the judging result of the self-adaptive control system into an electric signal to be transmitted to the control coil of the three-position four-way electromagnetic reversing valve II 019 of the hydraulic driving system, the hydraulic motor 5 is connected, the reducing driving wheel 302 and the reducing driven wheel 301 of the forward or reverse driving and controlling executing mechanism 3 synchronously rotate for a certain angle or a certain moment, and meanwhile, the self-adaptive control system transmits the electric signal to the servo driving system, the servo motor I105 is driven to rotate forward or reversely to drive the middle supporting web 108 to rotate along the screw-type web pushing shaft 1014, so that the folding reducing connecting rod 103 rotates to enable the reducing web 107 to complete the reducing adjustment along the reducing sliding groove 106, and the double reducing adjustment of extrapolation and servo driving are synchronously carried out; when the angle encoder 104 monitors that the angle signal reaches the adjustment value and the monitoring data of the linear displacement sensor I102 and the linear displacement sensor II 1012 have no offset, the online quality monitoring system transmits information to the self-adaptive control system, the self-adaptive control system outputs a control signal to enable the three-position four-way electromagnetic reversing valve II 019 to be in the middle position, the diameter of the roller is adjusted, the one-way throttle valve III 020 is closed, and the oil way is cut off to complete self-locking; if the data of the neutral washing fiber content, the dry matter content, the starch content and the like of the materials, which are monitored by the near infrared spectrum sensor after the set operation requirement, correspond to the model in the standard database after the diameter of the roller is adjusted, the self-adaptive control system does not output an adjusting signal any more; if the online quality monitoring system monitors that the near infrared spectrum sensor monitors that the data such as the neutral washing fiber content, the dry matter content, the starch content and the like of the material are not in the corresponding parameter ranges in the standard database model after the set operation requirement is finished, the self-adaptive control system continues to execute the self-adaptive diameter adjustment; the self-adaptive control system judges that the content of neutral washing fiber, starch and dry matter in the online quality monitoring system corresponds to the middle area range in the database, and further controls the logic valve 08 and the electric spraying pump switches (I-VI) of the hydraulic driving system to circularly execute self-adaptive microbial inoculum spraying.
The invention has high intelligent degree of operation, accurate and efficient control, improves the harvest quality of forage grass, saves adjustment time, provides favorable conditions for realizing high-quality and efficient harvest of the forage grass, greatly reduces cost and operation time, improves efficiency, has good economic and social benefits, and has wide market prospect.
The specific embodiments of the present invention have been described in detail with reference to the accompanying drawings, but the present invention is not limited to the above embodiments, and various changes can be made within the knowledge of those skilled in the art without departing from the spirit of the present invention.

Claims (10)

1. The utility model provides a variable diameter cylinder electrohydraulic self-adaptation drive control system which characterized in that: the device comprises a hydraulic driving system, a servo driving system, a driving and controlling executing mechanism, an online quality monitoring system, a self-adaptive control system and a buzzer;
the hydraulic driving system, the servo driving system, the driving and controlling executing mechanism, the on-line quality monitoring system and the buzzer are all in communication connection with the self-adaptive control system;
the hydraulic driving system is used for controlling the driving executing mechanism and the servo driving system according to the control signal sent by the self-adaptive control system so as to realize the adjustment of the diameter of the roller and finish self-locking after the diameter adjustment;
The servo driving system and the driving and controlling executing mechanism are used for adjusting the diameter of the roller;
the online quality monitoring system is used for monitoring offset, rotation angle, material flow, oil pressure, roller diameter of the shredding device, timing data of a controller (013), material dry matter content and starch content data in real time;
the self-adaptive control system is used for calculating the roller diameter adjustment parameters in real time according to the offset, the rotation angle, the material flow, the oil pressure, the roller diameter, the timing data of a controller (013), the material dry matter content and the starch content data of the monitored cutting device, and adjusting control instructions of each actuating mechanism comprising a hydraulic driving system, a servo driving system, a driving actuating mechanism and an electromagnetic reversing valve based on the oil pressure, the material flow and the roller angle.
2. The variable diameter cylinder electrohydraulic adaptive drive control system of claim 1, wherein:
the hydraulic driving system comprises a hydraulic motor (5), a pressure gauge (01), a one-way throttle valve I (02), a connecting hydraulic cylinder (03), a one-way throttle valve II (04), a double-hydraulic-control one-way valve I (05), a three-position four-way electromagnetic reversing valve I (06), a synchronous valve I (07), a logic valve (08), an electronic injection pump switch, a two-position three-way electromagnetic reversing valve (09), an overflow valve I (010), a speed regulating valve (011), an overflow valve II (012), a controller (013), an oil tank (014), a filter (015), a hydraulic pump (016), a two-position two-way electromagnetic reversing valve (017), a flowmeter (018), a three-position four-way electromagnetic reversing valve II (019), a one-way throttle valve III (020), a flow indicator (021), a synchronous valve II (022) and a double-hydraulic-control one-way valve II (023);
The connecting hydraulic cylinder (03) is externally connected to the test bed or the harvester frame to play a role in auxiliary support adjustment, and an oil inlet and an oil outlet of the connecting hydraulic cylinder are respectively connected with the one-way throttle valve II (02) and the one-way throttle valve I (04); an oil inlet of the one-way throttle valve II (02) is connected with an oil outlet of the double-hydraulic control one-way valve II (023); an oil inlet of the one-way throttle valve I (04) is connected with an oil outlet of the double-hydraulic control one-way valve I (05); an oil inlet of the double-pilot operated check valve I (05) is connected with an oil outlet of the three-position four-way electromagnetic reversing valve I (06), and an oil return path of the double-pilot operated check valve I (05) is connected with an oil inlet of the synchronous valve II (022); an oil outlet of the double-hydraulic control one-way valve I (05) is connected with a pressure gauge (01);
an oil inlet of the three-position four-way electromagnetic directional valve I (06) is connected with one of oil outlets of the synchronous valve I (07), and an oil return port of the three-position four-way electromagnetic directional valve I (06) is connected with the logic valve (08) and the oil tank (014); the oil outlet of the logic valve (08) is connected with six electric spraying pump switches, and the outlet of the electric spraying pump switch is connected with an overflow valve II (012) and an oil tank (014); the other oil outlet of the synchronous valve I (07) is connected with the oil inlet of the one-way throttle valve I (02), and the oil inlet of the synchronous valve I (07) is connected with the oil outlet of the two-position three-way electromagnetic reversing valve (09); an oil inlet of the two-position three-way electromagnetic directional valve (09) is connected with an oil inlet of the three-position four-way electromagnetic directional valve I (06) and a throttle valve (011), an oil return port is connected with an oil tank (014), an oil inlet of the throttle valve (011) is connected with an oil outlet of the two-position two-way electromagnetic directional valve (017), and a hydraulic pump (016) is directly connected with the oil inlets of the two-position two-way electromagnetic directional valve (017) and an overflow valve II (012); an oil inlet of the three-position four-way electromagnetic directional valve II (019) is connected with a hydraulic pump (016), an oil outlet of the three-position four-way electromagnetic directional valve II (019) is connected with an oil inlet of a one-way throttle valve III (020), and an oil return port of the three-position four-way electromagnetic directional valve II (019) is connected with oil inlets of a double-hydraulic control one-way valve II (023) and a synchronous valve I (07); an oil outlet of the one-way throttle valve III (020) is connected with an oil inlet of the flow indicator (021); an oil outlet of the flow indicator (021) is connected with an oil inlet of a synchronous valve II (022), and an oil outlet of the synchronous valve II (022) is connected with a double-hydraulic control one-way valve II (023); the oil port of the double-hydraulic control one-way valve II (023) is connected with the oil port of the hydraulic motor (5) through a pressure gauge (01), and the oil return path of the double-hydraulic control one-way valve II (023) is connected with the oil inlet of the synchronous valve I (07).
3. The variable diameter cylinder electrohydraulic adaptive drive control system of claim 1, wherein: the servo driving system comprises a diameter adjusting cam (101), a folding reducing connecting rod (103), a servo motor I (105), a reducing chute (106), a reducing web rod (107), a middle supporting web disc (108), a servo motor II (109), a tool setting wheel group (1013), a screw type web disc pushing shaft (1014) and a cam connecting rod (1015);
the diameter adjusting cam (101) is fixedly connected with the diameter-variable amplitude rod (107) through a bolt and is arranged in a mortise of the front base (304) through a cam connecting rod (1015); the servo motor I (105) is arranged on a corresponding installation hole position of the first middle supporting web disc (108) and is connected with a corresponding driving shaft and a screw type web disc pushing shaft (1014) through a coupler; the servo motor II (109) is arranged on an installation hole site corresponding to the end face of the bracket of the tool setting wheel set (1013), the servo motor II (109) is connected with the tool setting wheel set (1013), and the tool setting wheel set (1013) realizes automatic tool setting through ball self-rotation.
4. The variable diameter cylinder electrohydraulic adaptive drive control system of claim 1, wherein: the online quality monitoring system comprises a pressure gauge (01), a flowmeter (018), a flow indicator (021), an angle encoder (104), a wireless signal transmitting module (1010), a wireless signal receiving module (1011), a linear displacement sensor II (1012), a torque type flow sensor (4) and a near infrared spectrum sensor;
The linear displacement sensor I (102) and the linear displacement sensor II (1012) are symmetrically arranged on one side surface of the variable-diameter amplitude rod (107), the angle encoder (104) is symmetrically arranged on the folding variable-diameter connecting rod (103) on two sides of the transmission main shaft (303), the wireless signal transmitting module (1010) and the wireless signal receiving module (1011) are arranged on the surface of the middle supporting amplitude disc (108), and the torque type flow sensor (4) is symmetrically arranged on the front end and the rear end of the transmission main shaft (303); the linear displacement sensor I (102) and the linear displacement sensor II (1012) are used for monitoring the offset and displacement of the threshing variable-diameter amplitude rod (107) of the variable-diameter roller so as to determine the position of the threshing variable-diameter amplitude rod and determine the diameter of the roller in real time; the angle encoder (104) is used for monitoring the rotating angle of the folding reducing connecting rod (103) in real time and feeding back the diameter adjustment quantity in real time according to the rotating angle; the pressure gauge (01) is connected between the hydraulic motor (5) and oil paths of the double-hydraulic control one-way valve I (05) and the double-hydraulic control one-way valve II (023) and is used for monitoring the change of the oil pressure of an oil path cavity of the hydraulic motor (5) in real time; the flowmeter (018) is connected between an oil return path of the three-position four-way electromagnetic reversing valve II (019) and an oil outlet path of the two-position two-way electromagnetic reversing valve (017) and is used for monitoring the change of the oil pressure of an output cavity of the hydraulic pump in real time; the controller (013) is in communication connection with the hydraulic driving system, the servo driving system and the driving and controlling executing mechanism, is internally provided with various control programs and is connected with the buzzer (6) in parallel to play a role of early warning; an oil outlet of the flow indicator (021) is connected with an oil inlet of the synchronous valve II (022) and is used for monitoring the change of the oil pressure of an oil outlet cavity of the one-way throttle valve III (020) in real time; the near infrared spectrum sensor is externally connected and used for monitoring material data; specifically, the near infrared spectrum sensor is connected with a controller (013) in the online quality monitoring system;
The self-adaptive control system calculates the diameter adjustment parameters of the roller in real time according to the offset, the rotation angle, the flow, the pressure, the roller diameter, the timing data of the controller (013), the dry matter content of materials, the starch content and other data of the online quality monitoring system, and adjusts the control instructions of each actuating mechanism and the electromagnetic reversing valve based on oil pressure, the flow, the angle and the like; the adaptive control system includes a controller (013).
5. A control method of a variable-diameter roller electrohydraulic self-adaptive drive control system is characterized by comprising the following steps of:
firstly, establishing a silage quality index standard database and a near infrared spectrum database of high-quality forage materials in different harvest periods according to field tests, dividing different numerical range areas in the database, and constructing a multi-parameter associated self-adaptive regulation and control model according to the offset, rotation angle, material flow, pressure, roller diameter, timing data of a controller, dry matter content, starch content and other data of a roller of an online quality monitoring system; the method comprises the steps of judging the interval range of parameters such as dry matter content and the like fed back by an online quality monitoring system in real time through a self-adaptive control system, calculating parameters required by diameter adjustment, adjusting control instructions of each actuating mechanism including a hydraulic driving system, a servo driving system, a driving actuating mechanism and an electromagnetic reversing valve based on oil pressure, material flow, angle and the like, timely controlling the hydraulic driving system, the servo driving system and the driving actuating mechanism to adjust the diameter of a roller, and enabling the hydraulic driving system, the servo driving system and the driving actuating mechanism to synchronously drive the diameter adjusting device to extend or retract to coordinate diameter adjustment.
6. The control method of the variable diameter cylinder electrohydraulic adaptive drive control system of claim 5, including:
after starting the operation, initializing an upper computer and peripheral equipment;
the controller (013) autonomously checks the material initial dry matter information;
starting a self-adaptive cutting adjustment program, otherwise, manually rotating the driving wheel to finish diameter adjustment;
after the self-adaptive cutting adjustment program is started, the field operation time length, the feeding quantity and the operation area data are counted according to the test experience and the user requirement, an operation process professional database is established, and the variable diameter judgment requirement is input according to the actual requirement and the user feeding standard;
after the setting of the judging standard is finished, the near infrared spectrum sensor detects the dry matter content and other components and stores the dry matter content and other components into a storage unit of the controller (013);
starting an adaptive microbial inoculum adding program, calling the latest dry matter content and other component data in a storage unit by a controller (013), comparing neutral washing fiber content, dry matter content and starch content data in a near infrared spectrum sensor with a silage quality index standard database, and judging a range interval corresponding to an index;
and the controller (013) outputs a corresponding cutting length and a microbial inoculum spraying instruction according to the compared data range interval, circularly executes an adaptive microbial inoculum adding instruction, executes an adaptive cutting adjustment instruction according to a set variable diameter requirement, and assists an operator to judge whether the adaptive cutting adjustment is needed or not, if so, a variable diameter judgment requirement is set, otherwise, a reset instruction is executed, and a servo driving system and a drive control executing mechanism are controlled to finish reset and automatic tool setting.
7. The control method of the variable diameter roller electrohydraulic self-adaptive driving control system of claim 5, wherein the flow of the self-adaptive cutting adjustment is: after starting the self-adaptive variable diameter adjustment, detecting the dry matter content of the material in the initial ground area of the operation, inputting the dry matter content into a controller (013), calibrating initial position parameters of the roller by integrating oil pressure, material flow, angle encoder values, offset and the like, judging whether the roller meets the diameter adjustment requirement, alarming by a buzzer if the diameter of the roller is at the maximum or exceeds the adjustment control range and the like and does not meet the adjustment requirement, prompting reset operation, and calibrating the initial position parameters of the roller again; when the adjustment requirement is met, starting the machine to perform harvesting operation, detecting the dry matter content of the materials in 1s by a near infrared spectrum sensor, comparing the dry matter content of the initial ground, judging whether the difference value of the dry matter content is within a 3 percent range, if the difference value is more than 3 percent, searching the regional operation again by a harvester, collecting dry matter content information, continuously judging the dry matter difference value range, and when the difference value is less than 3 percent, reading the dry matter content of the materials in 1s detected by the near infrared spectrum sensor, and judging the dry matter content interval; when the dry matter content m is less than 22%, the three-position four-way electromagnetic reversing valve II (019) is electrified to open an oil inlet and outlet way, the hydraulic motor (5) is connected, and the controller (013) controls the diameter to be 551-661 mm according to the self-adaptive regulation and control model, so that the adjustment of the cutting length to be 9-11 mm is realized; when the dry matter content m is more than or equal to 22%, the three-position four-way electromagnetic reversing valve II (019) is electrified to open an oil inlet and outlet way, the hydraulic motor (5) is connected, the diameter of the controller (013) is controlled to be 425-495 mm according to the self-adaptive regulation and control model, and the cutting length is adjusted to be 12-14 mm; when the dry matter content m is less than 33%, the three-position four-way electromagnetic reversing valve II (019) is electrified to open an oil inlet and outlet way, the hydraulic motor (5) is connected, the diameter of the controller (013) is controlled to be 495-1189 mm according to the self-adaptive regulation and control model, and the adjustment of the cutting length of less than 12mm, specifically 5-12 mm is realized; when the dry matter content m is more than or equal to 33%, the three-position four-way electromagnetic reversing valve II (019) is electrified to open an oil inlet and outlet way, the hydraulic motor (5) is connected, the diameter of the controller (013) is controlled to be 296-396 mm according to the self-adaptive regulation and control model, and the cutting length is adjusted to be 15-20 mm.
8. The control method of the variable diameter cylinder electrohydraulic adaptive drive control system of claim 5, wherein a minimum initial diameter of said cylinder is 238mm; the self-adaptive regulation and control model accords with y 1 ＝7E-11x 1 4 -2E-07x 1 3 +0.0003x 1 2 -0.1936x 1 +55.771 whereiny 1 To cut length, x 1 Is the diameter of the roller; or the adaptive regulation and control model logically accords with y in time 2 ＝-1.8427x 2 2 +87.328x 2 +193.82, where y 2 For cylinder diameter x 2 The time required for adjusting the minimum initial diameter of the roller to the corresponding diameter from zero, namely 238mm; or the self-adaptive regulation and control model logically accords with y according to the radian of the rotation angle 3 ＝-0.0478x 3 2 +14.148x 3 +201.52, where y 3 For cylinder diameter x 3 The rotation angle radian required for adjusting to the corresponding diameter from zero angle, i.e. 238mm of the minimum initial diameter of the roller.
9. The control method of the variable diameter roller electrohydraulic self-adaptive driving control system of claim 5, characterized in that after initializing the upper computer and the peripheral equipment, starting the self-adaptive bacteria agent spraying program, otherwise, manually remotely controlling the spraying of bacteria agent, the controller (013) automatically detects the surplus of the additive in the medicine box, judges whether the surplus of the additive reaches the warning value, if the surplus of the medicine box is insufficient, the buzzer alarms, the display displays the surplus of the medicine box in real time, and prompts stopping and adding medicine; when the medicine box is sufficient in allowance, the near infrared spectrum sensor detects the neutral washing fiber, starch and dry matter content, the controller (013) reads and stores the initial neutral washing fiber content n, the initial dry matter content m and the initial starch content s of the near infrared spectrum sensor, and judges the neutral washing fiber, starch and dry matter content interval; when the neutral washing fiber content n is less than 40%, if the neutral washing fiber content n is less than 30%, the logic valve (08) judges the closing priority of the medicine spraying switch, the electric medicine spraying pump I is preferably connected, the lactobacillus preparation is sprayed, and if the neutral washing fiber content n is more than or equal to 30%, the logic valve (08) judges the closing priority of the medicine spraying switch, the electric medicine spraying pump II is preferably connected, and the organic acid preparation is preferably sprayed; when the content of neutral washing fiber is 40% < n <55%, the logic valve (08) judges the closing priority of the medicine spraying switch, the electric medicine spraying pump III is preferably connected, organic acid salt preparations are sprayed, and when the content of neutral washing fiber is more than or equal to 55%, the logic valve (08) judges the closing priority of the medicine spraying switch, the electric medicine spraying pump IV is preferably connected, and cellulase preparations are sprayed; when the content of neutral washing fiber is 40% < n <55%, the logic valve (08) judges the closing priority of the medicine spraying switch, the electric medicine spraying pump III is preferably connected, organic acid salt preparations are sprayed, and when the content of neutral washing fiber is more than or equal to 55%, the logic valve (08) judges the closing priority of the medicine spraying switch, the electric medicine spraying pump IV is preferably connected, and cellulase preparations are sprayed; when the dry matter content is 22% < m <28%, the starch content is 20% < s <25%, the logic valve (08) judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump I is preferably connected to spray the lactobacillus preparation; when the dry matter content m is less than 22% and the starch content s is less than 20%, the logic valve (08) judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump V is preferably connected to spray the formic acid inhibitor; when the dry matter content is 28 percent < m <33 percent and the starch content is 25 percent < s <30 percent, the logic valve (08) judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump VI is preferentially connected to spray the mixture of the lactobacillus preparation and the formic acid inhibitor; when the dry matter content m is more than or equal to 33% and the starch content s is more than or equal to 30%, the logic valve (08) judges the closing priority of the medicine spraying switch, and the electric medicine spraying pump V is preferably connected to spray the formic acid inhibitor.
10. The control method of the variable diameter roller electrohydraulic self-adaptive driving control system of claim 5, wherein the control strategy of adjusting the diameter of the roller, namely adjusting the length of a cut segment and spraying the microbial inoculum by the self-adaptive control system is as follows: when a near infrared spectrum sensor of an online quality monitoring system monitors that data such as neutral washing fiber, dry matter, starch and the like of materials are not in a corresponding database reference value range in a multi-parameter self-adaptive regulation and control model, a controller (013) converts a judging result of the self-adaptive control system into an electric signal and transmits the electric signal to a control coil of a three-position four-way electromagnetic reversing valve II (019) of a hydraulic driving system, a hydraulic motor (5) is connected, a reducing driving wheel (302) and a reducing driven wheel (301) of a driving and controlling executing mechanism (3) are driven to synchronously rotate for a certain angle or a certain moment in a forward or reverse direction, the self-adaptive control system transmits the electric signal to a servo driving system, and a servo motor I (105) is driven to positively or reversely rotate to drive a middle supporting web (108) to rotate along a screw type web pushing shaft (1014), so that a folding reducing connecting rod (103) rotates to enable a reducing web rod (107) to be pushed outwards along a reducing chute (106) to complete reducing adjustment, and the hydraulic and servo driving dual reducing adjustment is synchronously carried out; when the angle encoder (104) detects that the angle signal reaches an adjustment value and the monitoring data of the linear displacement sensor I (102) and the linear displacement sensor II (1012) are not offset, the online quality monitoring system transmits information to the self-adaptive control system, the self-adaptive control system outputs a control signal to enable the three-position four-way electromagnetic reversing valve II (019) to be in the middle position, the roller diameter adjustment is finished, the one-way throttle valve III (020) is closed, and the oil way is cut off to finish self-locking; if the data of the neutral washing fiber content, the dry matter content, the starch content and the like of the materials, which are monitored by the near infrared spectrum sensor after the set operation requirement, correspond to the model in the standard database after the diameter of the roller is adjusted, the self-adaptive control system does not output an adjusting signal any more; if the online quality monitoring system monitors that the near infrared spectrum sensor monitors that the data such as the neutral washing fiber content, the dry matter content, the starch content and the like of the material are not in the corresponding parameter ranges in the standard database model after the set operation requirement is finished, the self-adaptive control system continues to execute the self-adaptive diameter adjustment; the self-adaptive control system judges that the content of neutral washing fiber, starch and dry matter in the online quality monitoring system corresponds to the middle range in the database, and further controls a logic valve (08) of the hydraulic driving system and electric spraying pump switches (I-VI) to circularly execute self-adaptive microbial inoculum spraying.
CN202310295365.0A 2023-03-24 2023-03-24 Electro-hydraulic self-adaptive driving and controlling system for variable-diameter roller and control method thereof Pending CN116339144A (en)

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