| Agricultural automatic tillage is one of the important links in the development of fine agriculture.The quality of tillage can not only affect soil and water conservation,but also affect the emergence and growth of crops,field management,harvest and other operational links.As an efficient tillage machine,rotary plow has become an important part of agricultural modernization.It has the functions of breaking soil,breaking the bottom of the plow,improving the soil water holding capacity and so on.It can also cut up the stubble below the surface,which is convenient for sowing,and provides good conditions for crop development and growth.In order to maintain the level of the rotary tiller in the field operation,this paper carried out the research on the remote control driving and automatic leveling system of the rotary tiller.The remote control driving and automatic leveling function of the rotary tiller were realized by using the mechatronic and hydraulic integration technology,which improved the quality and efficiency of the field operation,and provided a certain basis for the rotary tiller to maintain the soil flatness and the consistency of the tillage depth.The main research contents and achievements are as follows:(1)A remote control remote driving controller with universal interface is developed.The remote control is easy to operate and intuitionistic to realize remote driving of tractor.The development of wireless communication system with stable transmission is the key point of remote control and long-distance driving.It mainly studies the time-sharing classified transmission of wireless communication data and the automatic shutdown of wireless signal loss.(2)In order to meet the requirement of the frequent leveling control operation of rotary tiller,a set of hydraulic system with single hydraulic cylinder controlled by full hydraulic steering gear is designed.Complete the mechanical structure design of the whole machine,reasonably arrange and install the controller,sensor,hydraulic element,rotary cultivator and other components,design the reasonable mechanical structure according to the movement characteristics of the machine and analyze the accuracy and economy of different control methods,and carry out the corresponding mechanical analysis of the leveling mechanism.(3)The calculation and selection of relevant hydraulic components are completed,and the simulation analysis of hydraulic system is carried out by AMESim software.The results show that the overshoot of conventional PID algorithm is very obvious,and the stability time required after continuous leveling is more than 2S,the overall adjustment time is long,and it can not meet the requirements of the system,while the response time of fuzzy PID algorithm is about 1s,basically no overshoot,reaching the goal Time and stable time were significantly shorter.(4)The development and manufacture of the main controller and the motor controller are completed.In the design,the principle of separation of high-power control components is adopted.The high-power controller is placed on the motor controller,and the low-power chips such as wireless communication chip are placed on the main controller.Through 232,485 communication,the mutual communication among sensors,master controller and motor controller is completed,and the performance debugging and overall linkage control among various components are completed.(5)The inclination sensor is developed and manufactured,and the inclination angle of the machine tool is accurately measured by the fusion Kalman filter algorithm.The sensor static test and dynamic test are carried out.The results show that when the sensor is stationary,the maximum error of the filtered data is 0.05 °,the average error is 0.01 °,and the root mean square error is ≤ 0.014 °.When the rotary blade is turned on,the maximum error of the data after sponge filtering is 0.3 °,the average error is 0.12 °,and the root mean square error is ≤ 0.023 °.When a single track encounters a 10 cm obstacle,the maximum error is 0.62 °,the average error is 0.375 °,and the root mean square error is ≤ 0.163 °.When encountering 20 cm obstacles,the maximum error is 1.09 °,the average error is 0.587 °,and the root mean square error is ≤ 0.33 °.(6)Compared with the system without the function of automatic leveling,the system with the function of automatic leveling has a significant improvement in the plowing,the former has a maximum difference of 2.3cm in the depth of ploughing,the latter has a maximum difference of 9.4cm in the depth of ploughing,the former has an average stability coefficient of 94.7%,and the latter has a maximum difference of 9.4cm in the depth of ploughing The average stability coefficient of ploughing depth is 81%,the former flatness≤ 1.08 cm,and the latter flatness ≤ 2.8cm. |
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