The Research Of Dynamics Modeling And Verification For Paddy Field Leveler

The technologyof leveling the paddy field with developed equipment is the key technology for achievingthe whole course mechanization of rice production.The flat surface of paddy field can meets the needs of transplanter and rice seeding machine, as well as even distribution of fertilizer and irrigation water. Currently, laser leveler is most advanced technologyused in leveling field both at China and abroad.It has mature commercial products, but the technology mainly used inleveling drylandand no application in soft paddy field. Our research group have committed to designing and producing paddy laser levelerfor several years. We face the new challenge when we design a leveler used in paddy field due to the huge difference between paddy field and dry land. It mainly includes that the original trailer-type connection is no longer fit,because the soft soil can not afford the weight of leveler,so we use carried-type connection instead the trailer-type connection.For the act of roll movement of tractor bodyinterfering, the leveler must can have the function of autoleveling. Another key technology is the same as dry land laser leveler, the rotating refraction part of laser transmitter to produce a laser horizontal plane and laser receiver laser to determine the relative position between the receiver and the reference laser. Our research group try a feasible way to modeling the laser leveler andguiding the designing of paddy field leveler.Our research group havedesignedseveral generation prototype, in designing of paddy laser levelerwe accumulated experience.For current paddy laser leveler machine,it exists some problem.One is lowefficiency, speeding will reduce the precision ofleveler shovel location control. After Analysiswe found that: mechanical structure has deformation, clearance and hydraulic system has severalparameterwhich effect the resultsand control algorithm maybe not very well,which needs a dynamic model. In order to master the relationship betweeninput, interference of tractor body's moving and numbers of physical parameters of the system itself, this paper attempts to establish a dynamic model which contains the above factor.The theoretical model can guide the designingmachine hydraulic system and control algorithm of laser leveler.This paper contains three partsof research and first is dynamic modeling and simulation of a leveler for paddy field, second is differential-algebraic equations(DAE) numerical solution of dynamic model, third is validating the dynamics model.The three part is as follows:1. The establishment of dynamic model of a leveler for paddy field. Leveler for paddy field model based on two forms of implementation, DAE was based on kinematics and dynamics analysis of formal models and software-based dynamic models. Leveler for paddy field flat spade control includes the horizontal position control and vertical position control. Paddy leveler complete dynamic model was obtained based on leveling system dynamic model and paddy leveler system kinetic model. Based on the multi-body dynamics simulation software ADAMS, there is need for improvement on height movement motor leveler for paddy field and leveling dynamics model and simulation model.2. Establish paddy leveler DAE forms of numerical solution of the dynamic model research. Based on dynamics model in the form of differential-algebraic equations, numerical solution is needed, this paper explores DAE method based on Matlab and provides a mathematical function ode45, dae Function DAE models of solving, get input flow with flat shovel levels deep flat shovel attitude angle output relationships of the state variables. ADAMS simulation and numerical solution accuracy results were comparable however, this step should be perfected.3. Two levelers preliminary test to verify the accuracy of the model. To ensure that the design fits its s assumption, the leveler machinery installation is designed and improved ground leveling control of hydraulic system of shovel. Secondly, simulating a leveler and the characteristic input signals, used as input to a DAE model of sinusoidal flow, leveling system of leveler of proportional directional control valve, input sinusoidal voltage signal, comparing the level of flat shovel angle, angular velocity, and DAE model outputs, DAE model is verified for accuracy.