甘蔗收获机割台随动控制系统设计与试验  

Design and Experiment of Servo Control System for Sugarcane Header

作　　者：宫元娟[1] 金忠博 白晓平[2] 王思佳 吴玲 黄婉媛 GONG Yuanjuan;JIN Zhongbo;BAI Xiaoping;WANG Sijia;WU Ling;HUANG Wanyuan(College of Engineering,Shenyang Agricultural University,Shenyang 110866,China;Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110169,China)

机构地区：[1]沈阳农业大学工程学院,沈阳110866 [2]中国科学院沈阳自动化研究所,沈阳110169

出　　处：《农业机械学报》2023年第2期119-128,138,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2020YFB1709600);辽宁省重点研发计划项目(2020JH2/10200026);中国科学院科技服务网络计划项目(KFJ-STS-QYZD-198)。

摘　　要：针对国内现有甘蔗收获机无法对割台高度实施自动控制的问题,设计了一种割台随动控制系统。系统由自重摆动式仿形机构、STM32控制器、位移传感器、上位机模组、按键模块、电磁阀及驱动模组组成。自重摆动式仿形机构与地面直接接触并保持贴附,实时检测收获作业时的地面起伏变化,同时可以依靠仿形机构外廓曲面减小收获机倒退时地面对自身关键部件的冲击。建立割台高度控制参数模型,运用PID控制算法,有效地实现收获机割台高度的精确控制,进一步提升了甘蔗收获机自动化水平和工作性能。田间试验结果表明,收获机在安装割台随动控制系统后,割台随地形起伏变化而变化,使破头率降低,平均破头率为21%,通过与人工控制收获试验对比,平均破头率下降18.5个百分点。Directing at the problems that domestic sugarcane harvester header height adjustment and nonautomatic control,a servo control system for sugarcane header height was designed.The servo control system mainly consisted of a self-weight swinging profiling mechanism,STM32 controller,displacement sensor,upper computer module,keypad module,solenoid valve drive module,etc.The self-weight swinging profiling mechanism consisted of a ground contact,a connection sleeve,a left fixed connection plate,a frame,a right fixed connection plate,an angle sensor,etc.To address the problem that the harvester may cause impact or destroy the profiling mechanism when performing the reversing operation,ADAMS dynamics simulation software was utilized to obtain the vertical height and force variation of the profiling mechanism,and complete the optimization design of the tail end of the profiling mechanism.The simulation tests showed that when the radius of the tail end was 105 mm,the maximum collision force of the ground on the profiling mechanism was equal to 1 976 N less than the permissible bending strength of 45 steel,which met the design requirements of the profiling mechanism.It was also verified that the profiling mechanism can adhere to the ground.To study the relationship model between the height of the harvester's cutting table and the signals collected by the profiling mechanism,and design a PID algorithm for cutting table height control.The PID control algorithm was optimized by using Matlab/Simulink software.After tuning the calculation optimization,when the proportional coefficient K_p was 0.41,the integral coefficient K_i was 0.76 and the differential coefficient K_d was 0.009,the PID controller met the requirements of the servo control system.The profiling mechanism sent the detected terrain height data to the STM32 control unit,and after analysis and processing,the hydraulic actuators were driven to control the lifting and lowering of the cutting table.After completing the design of the cutting table servocontrol system,it w

关 键 词：甘蔗收获机 割台高度 仿形机构 自动控制 地形检测 

分 类 号：S225.53[农业科学—农业机械化工程]