A Research Of Tilling Depth Control System Based On The Position Of Drag Board

In the process of agricultural production,ploughing is an important production link,and the stability of ploughing depth has a great influence on the yield.Compared with developed countries,our country lags behind in the automatic control technology of tillage.When farmers operate the crawler cultivator,they should always turn around to observe the tillage depth of the rotary cultivator and the situation of mud backwater,and manually adjust the tillage depth of the rotary cultivator.This kind of manual adjustment of the depth of the rotary tiller not only can not achieve a good effect of land preparation,but also increases the labor intensity of the farmers invisibly,and the health of the farmers will be affected after a long time.Therefore,there is an urgent need for an automatic control method which can automatically adjust the tillage depth and has good control effect.In this paper,a control system of tillage depth of crawler cultivator based on the position of drag plate is designed.The system mainly combines the electric control technology and hydraulic technology to realize the automatic control of tillage depth.The main work of this paper,is as follows:(1)This paper studies the present situation and development of the automatic control technology of the plough depth at home and abroad.Aiming at the shortcomings of the automatic control method of the plow depth of the rotary cultivator at present,the automatic control method of the plow depth of the crawler cultivator based on the position of the drag plate is proposed.(2)A depth sensor based on the position of the drag plate is developed.The depth of the plow reflected by the position of the drag plate is reflected by the four-bar mechanism.The mathematical relationship between the angle value of the angle displacement sensor and the depth of the plow is derived by collecting the angle displacement sensor.The experimental data is analyzed with Matlab to verify the correctness of the mathematical relationship.(3)Based on the hydraulic control device of the original crawler cultivator,the hydraulic system of the automatic control of the tillage depth is designed.(4)The electronic control part of the automatic control system of the pedrail cultivator is developed.The circuit schematic diagram and PCB schematic diagram of the automatic control system of the pedrail cultivator are designed by using Altium designer 2018,the experimental circuit board is made,and the software of the control system is compiled.(5)The control algorithm based on Fuzzy Adaptive PID is determined.The fuzzy self-adaptive PID controller designed in this paper is edited by the editor of fuzzy reasoning system of MATLAB,and the simulation analysis is carried out by the Simulink component of MATLAB.(6)Refit the hydraulic system of the test prototype,install and debug the electric control system,and complete the field test.By comparing the measured value of tillage depth under the condition of opening and closing the automatic control system of tillage depth,it is verified that the automatic control system of tillage depth designed in this paper has a better effect of tillage depth control.