双芽蔗段横向种植机沟深控制系统设计与试验

Tillage Depth Control System for Double-bud Cane Section Transverse Planters

摘要:

针对前期研制的甘蔗双芽蔗段横向种植机在丘陵地区开沟过程中沟深不稳定、不宜操作等问题，结合横向种植机工作特点，设计了一种甘蔗横向种植机沟深控制系统，由激光测距传感器、压力变送器及单片机控制系统组成，研究了后犁沟深与油缸负载压力的关系，通过实时监测拖拉机提升液压油缸负载压力、沟深变化，并与设定的沟深阈值比较，通过控制系统实现对沟深的自动控制。首先，通过理论分析、Simulink仿真建模，对上拉杆与下拉杆的位移关系进行了运动仿真。研究了开沟过程中甘蔗横向种植机的三点悬挂负载方式，建立了拖拉机液压提升油缸位移与后犁沟深关系的理论模型。其次，设计了基于单片机液压控制系统，搭建了双芽蔗段横向种植机沟深控制系统试验平台。最后，在试验平台上进行了性能验证试验及多因素正交试验，对沟深稳定性系数的主要影响因素及影响沟深控制的规律进行了探讨；试验结果表明，系统调节响应速度小于1s，不同开沟深度沟深稳定性系数均大于90%，在设定的范围内，试验结果与设定值基本吻合，验证了沟深控制程序可靠性。通过多因素正交试验可知，交互因素中液压调速阀开度、开沟深度均对沟深稳定性系数产生显著影响，试验结果表明，当调速阀开度为0.56圈、土壤含水率为27.4%、开沟深度为29.6cm时，沟深稳定性系数最高，为95.87%。

Abstract:

Aiming at the problem of unstable tillage depth and unsuitable operation during the furrowing process of the sugarcane double-bud cane section transverse planter developed in the previous stage in hilly areas, combining with the working characteristics of the transverse planter, a tillage depth monitoring system for the sugarcane transverse planter was designed, which consisted of a laser range sensor, a pressure sensor and a single-chip microcomputer control system, and the relationship between the tillage depth of the rear plough and the load pressure of the cylinder was studied, so as to realize automatic control of the tillage depth by real-time monitoring of the tractor lifting hydraulic by real-time monitoring the tractor lifting hydraulic cylinder load pressure, tillage depth changes, and compared with the set tillage depth threshold, the automatic control of tillage depth was achieved through the control system. Firstly, through theoretical analysis and Simulink simulation modelling, the motion simulation analysis of the displacement relationship between the upper tie-bar and the lower tie-bar was carried out. The three-point suspension load mode of the sugarcane transverse planter in the tillageing process was studied, and the theoretical model of the relationship between the displacement of the hydraulic lifting cylinder of the tractor and the tillage depth of the rear plough was established. Secondly, a microcontroller-based hydraulic control system was designed to build a test platform for the tillage depth monitoring system of the double-bud cane section transverse planter. Finally, the performance verification test and multi-factor orthogonal test were carried out on the test platform to explore the main influencing factors of the tillage depth stability coefficient and the laws affecting the tillage depth control;the test data showed that the system’s regulation response speed was less than 1s, and the coefficients of the tillage depth stability for different tillage depths were all greater than 90%, which was in the range of the setup, and the test results basically matched with the setup values, which verified that the tillage depth control procedure was reliability. Through the multi-factor orthogonal test, it can be seen in the interactive factors of hydraulic speed valve opening, set the value of tillage depth would have a significant impact on the stability coefficient of tillage depth, according to the results of the test when the speed valve opening was 0.56, the soil moisture content of 27.4%, set the tillage depth of 29.6cm, the highest coefficient of stability of the tillage depth was 95.87%.