高地隙施药机喷杆自动调平系统设计与试验  

Design and Test of Automatic Beam Leveling System for High-clearance Sprayer

作　　者：印祥 安家豪 王显 王亚林 李加琪 金诚谦 YIN Xiang;AN Jiahao;WANG Xian;WANG Yalin;LI Jiaqi;JIN Chengqian(School of Agricultural Engineering and Food Science,Shandong University of Technology,Zibo 255049,China;Shandong Provincial Key Laboratory of Dry-farming Machinery and Informatization,Zibo 255049,China;Nanjing Research Institute for Agricultural Mechanization,Ministry of Agriculture and Rural Affairs,Nanjing 210014,China)

机构地区：[1]山东理工大学农业工程与食品科学学院,淄博255049 [2]山东省旱作农业机械及信息化重点实验室,淄博255049 [3]农业农村部南京农业机械化研究所,南京210014

出　　处：《农业机械学报》2022年第2期98-105,115,共9页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家自然科学基金项目(32171910);山东省自然科学基金项目(ZR2020MC085);山东省重大科技创新工程项目(2019JZZY010734)。

摘　　要：因田间地表起伏,高地隙施药机在作业过程中车体极易发生横滚方向的倾斜,同车体刚性连接的喷杆同时倾斜,甚至与作物、地面碰触,影响喷药均匀性和作业安全性。为此基于机电液一体化控制方法,设计了高地隙施药机喷杆自动调平系统。设计电控液压调平机构,使喷杆与车体柔性联接,实现在横滚方向上喷杆与车体的相对转动。采用姿态测量方法实时检测喷杆横滚角度,对横滚角度进行平均值滤波以准确感知喷杆姿态。采用增量式PID算法计算并输出信号至液压电磁阀以控制调平油缸动作,实时调节喷杆在横滚方向上的姿态。以华盛泰山3WP500G型施药机为平台,在场地试验过程中,通过改变响应阈值与平均值滤波器参数,对系统响应速度、稳定性和控制误差进行对比分析,确定了喷杆自动调平参数最优组合,测试调平误差最大值为1.84°,均方根误差小于等于0.689°。田间试验结果表明,调平误差最大值为1.53°,平均值为0.135°,均方根误差为0.454°,喷杆调平后角度保持1°以内,70%时间角度在0.5°以内,满足喷杆自动调平控制要求。Since the ground surface is uneven in the field,the body of the high-clearance sprayer is prone to tilt in the rolling direction during operation and the spray beam tends to incline and even touches the crop or the ground,which is the potential of accident.Considering this problem,an automatic spray beam leveling system for the high-clearance sprayer was developed by using a mechatronics-hydraulic integrated control method.An electronically controlled hydraulic leveling mechanism was designed to connect with the spray bar through a hinged point that allowed rotation of the spray bar relative to the vehicle body in the rolling direction.The attitude measurement method was used to detect the roll angle of the beam in real time,and the average value of the roll angle was filtered to accurately sense the posture of the beam.An incremental PID algorithm was used to calculate and output signals to the solenoid valve to control the cylinder so that the spray beam was automatically adjusted in the roll direction.Taking the Huasheng Taishan 3WP500G sprayer as the platform,the newly developed automatic spray beam leveling system was tested by changing the threshold and the average number of the filter,the system response rate,the control stability and error were analyzed,according to which the combination of parameters was optimized.The step results showed that the maximum value of the leveling error was 1.84°,the root mean square error was no more than 0.689°,and field results showed that the maximum value of the leveling error was 1.53°,the average value was 0.135°,and the root mean square error was no more than 0.5°,the angle of the sprayer beam after leveling was within 1°,and the angle was below 0.5°for more than 70%of the time,which indicated that the automatic spray beam leveling system can meet the requirements of automatic beam leveling control.The research result can improve the operation quality and safety of the sprayer and also can provide a reference for the automatic leveling of the spray beam.

关 键 词：高地隙施药机 喷杆 PID 自动调平 调平控制 

分 类 号：S224.3[农业科学—农业机械化工程] TP272[农业科学—农业工程]