喷杆式喷雾机喷杆高度及平衡在线调控系统

Online Control System of Spray Boom Height and Balance

摘要:

为保证喷杆式喷雾机工作过程中，喷杆与冠层之间始终保持近似平行并相距适当距离，以保证施药效果，并避免喷杆倾斜刮伤作物，设计了一套喷杆式喷雾机喷杆高度及平衡在线调控系统。该系统采用超声波测距传感器实时检测喷杆两端的实际对地距离，并根据其与喷杆设定作业高度的差别，控制油缸动作，对喷杆高度及喷杆平衡进行实时调整。给出了喷杆式喷雾机样机的总体结构，介绍了喷杆高度液压调节系统的组成和工作原理，详细阐述了喷杆高度及平衡在线调控系统的软、硬件设计方法，设计了一种对地距离检测信号枝叶遮挡干扰的滤波算法，并对喷杆高度及平衡在线调控系统的调节性能进行了场地和田间试验。场地试验表明，该调控系统可以有效改善阶跃激励路面引起的喷杆高度变化，并可以将喷杆高度变化值控制在±3 cm范围内。田间试验表明，喷杆高度信号滤波程序可以有效滤除分行器下方偶有棉花枝叶的干扰，实现喷杆高度及平衡的在线调控。

Abstract:

In order to ensure the application effect and avoid spray boom scratching crops in the work process, spray boom and plant canopy need to be maintained approximately parallel and proper distance. An online control system of spray boom height and balance was designed. The online control system used ultrasonic sensors to detect the height from ground to spray boom. The controller caculates the direction and speed of hydraulic cylinders by comparing the set spray boom height with the actual spray boom height which was detected by ultrasonic sensors. Then the controller sends out control signals of hydraulic cylinders to adjust spray boom height and balance. The structure of boom sprayer and the composition and working principle of spray boom height and balance hydraulic system were described. The software and hardware design of spray boom height and balance online control system were elaborated, and a spray boom height signal filtering algorithm of branches and leaves interference was designed and the online control method of spray boom height and balance was elaborated. The online control system of spray boom height and balance was tested by ground test and field test. Ground test showed that the system could effectively improve the spray boom height change caused by step excitation pavement. The spray boom height change could be controlled within ±3 cm. Field test showed that the spray boom height signal filtering procedure could effectively filter occasional interference of a small amount of cotton branches and leaves and realize online control of spray boom height and balance.