根茎类作物收获机自动对行系统设计与试验  

Design and Test of Auto-follow Row System Employed in Root and Stem Crops Harvester

作　　者：李涛 周进 徐文艺 张华 刘存根[3] 姜伟 LI Tao;ZHOU Jin;XU Wenyi;ZHANG Hua;LIU Cungen;JIANG Wei(Shandong Academy of Agricultural Machinery Sciences,Ji’nan 250100,China;Shandong Agricultural Machinery Test and Appraisal Station,Ji’nan 250100,China;School of Information and Electrical Engineering,Shandong Jianzhu University,Ji’nan 250101,China)

机构地区：[1]山东省农业机械科学研究院,济南250100 [2]山东省农业机械试验鉴定站,济南250100 [3]山东建筑大学信息与电气工程学院,济南250101

出　　处：《农业机械学报》2019年第11期102-110,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0701604-02);山东省现代农业产业技术体系薯类产业创新团队项目(SDAIT-16-13);山东省农机装备研发创新计划项目(2018YF020-05)

摘　　要：针对国内根茎类作物收获机械自动化水平低、劳动强度大、对行功能缺失、明薯率低、伤薯率高和漏挖率高等问题,以4UGS2型双行薯类收获机为载体,以垄行截面走向为研究对象,综合运用机械、液压和电子控制等领域关键技术,设计了一种自动对行系统。该系统包括地垄仿形机构、牵引机构、液压系统和控制系统,采用基于PID的速度控制模式实现收获机作业路线实时调整,从而实现收获机行进过程中的自动对行功能,进一步提高了薯类作物收获机械自动化水平。田间收获试验表明:薯类收获机安装自动对行系统后,其平均明薯率为97.25%,平均伤薯率为1.44%,平均漏挖率为1.57%。通过与人工对行收获试验对比可知,平均明薯率提升了2.16个百分点,平均伤薯率降低了1.40个百分点,平均漏挖率降低了1.81个百分点。Although China is the largest country of root and stem crops production,its mechanized production technology is very backward,and the specialization,high efficiency and serialization of the working machines are still lower,which lags behind developed countries.Aiming at the extrusive problems in the domestic harvester such as low level of mechanical automation,high labor intensity,lack of auto-follow row function,low obvious rate,high injury rate and high undug rate,taking 4UGS2 double row potato harvester as the carrier and the ridge section direction as the research object,comprehensively using mechanical,hydraulic and electronic control and other key technologies,the auto-follow row device was designed,which consisted of ridge profiling mechanism,traction mechanism,hydraulic system and electronic control system.The real-time adjustment algorithm of harvester operation route was introduced based on PID control technology,and the harvester operation route adjustment model was constructed.Finally,the optimal control of track of harvester was tested to verify the effectiveness of potato harvester,which included the installation of auto-follow row device and the non-installation of auto-follow row device.The auto-follow row device was used to harvest three ridges and then relying on the tractor driver to manually match the row to harvest three ridges.The experiment was carried out by interlacing with six ridges,and the harvester speed was 5.02 km/h(i.e.1.40 m/s).The results showed that 4UGS2 harvester exhibited better adaptation on the moist land with soft soil and less hardening,and the auto-follow row device and other parts of the machine had good working performance.The obvious rate,injury rate,undug rate and other indicators reached or exceeded the qualification requirements.According to the experiment and statistics,in the three ridges with manually matching the row,the obvious rate was 95.09%,the injury rate was 2.84%,and the undug rate was 3.38%.Meanwhile,in the three ridges with auto-follow row device,the p

关 键 词：根茎类作物 收获机 自动对行 PID控制 

分 类 号：S223.7[农业科学—农业机械化工程]