Design And Test Of Automatic Leveling System Of Plough-Rotary Tiller

The plough-rotary tiller is a kind of well-behaved machine on tillage and straw returning,which combines the function of plough turning and rotary tillage.It can be used to carry out multiple work processes such as plough turning,rotary tillage and burying ground straw into soil.The soil is finely ground after ploughing,and the crop stalks and stubble are directly buried in the fields to achieve the soil preparation effect.It can also reduce the number of work of the machine,reduce the compaction of the soil,and improve the efficiency of farming.In the process of work,one side of tractor wheel drives on the balk,another side drives on the cultivated furrows,causing tractor to incline to walk,and then leading to a certain inclination in horizontal direction of the plough-rotary tiller connected with the tractor through the three-point suspension mechanism.However,the tilting of plough-rotary tiller will affect the flatness and depth of the plow,so it is necessary to continuously adjust the equipment to ensure the work effect.Due to the complexity of field work condition,it need to adjust frequently on the first two work route and every route that causes by the unstable work of the hydraulic system in each field.It is not only time-consuming but also not high precision,which results in poor performance and low efficiency of work.In order to solve the problem of frequent adjustment of the plough-rotary tiller during work of plough.Combining the characteristics of itself,a kind of automatic leveling system of plough-rotary tiller is designed.The system includes actuator,hydraulic system and automatic leveling control system.The main research contents and results are as follows.(1)On the basis of the development of automatic leveling technology at home and abroad,combined with the current working characteristics of plough-rotary tiller in China.It studied the basic principle of automatic leveling system of plough-rotary tiller and presented the research content of this paper.(2)To explore the control scheme of automatic leveling system,and propose a method for determining the range of adjustment of the angle adjustment of the plough.The automatic leveling system adopt a independent hydraulic system designed by myself,and the types and parameters of each part are determined.The overall layout and location of the sensor,control box and leveling cylinder are determined.(3)The circuit and voltage regulator circuit of the automatic leveling control system are designed and the control algorithm is designed.The type of dip sensor is selected and the filtering algorithm and temperature compensation algorithm are added in the sensor.The mathematical model of the automatic leveling control system was established and the parameters were determined and the control system was simulated with simulink.Using EDEM software to carry out the simulation test of the machine.(4)The LoraWAN protocol and Modbus protocol were studied,and the data transmission module was constructed by comparing the wireless transmission module based on Modbus protocol.The debugging method of wireless transmission module and the processing method of inclination data are also studied.The software of upper computer is developed,and the reception,processing and display of the dip data are realized.(5)The system performance and mechanical properties of automatic leveling system are analyzed and verified by field experiment.Field experiment shows that compared to the manual levelling of plough-rotary tiller,automatic leveling of plough-rotary tiller has a improvement in the stability of the tillage and the flatness of the soil after the plough.The former plough deep stability coefficient is 87.31%,the latter is 84.76%.The former surface flatness is 1.97 cm,while the latter is 2.56 cm.