丘陵山地秸秆打捆机仿形浮动捡拾控制系统设计与试验

Design and Experiment of Profiling Floating Pickup Control System for Straw Baler in Hilly and Mountainous Areas

摘要:

针对丘陵山地复杂工况下常规秸秆打捆机进行秸秆捡拾作业时，存在秸秆捡拾率低、捆包含土率高等问题，本研究以德沃科技9Y-2230轻简型秸秆捡拾打捆一体机为载体，设计了一种基于PLC主动式仿形浮动秸秆捡拾控制系统，通过分析田间起伏地面复杂工况下秸秆捡拾过程，指出常规打捆机捡拾装置的局限性，明确仿形浮动秸秆捡拾方案的总体规划设计，确定控制系统关键部件的结构参数及工况范围。建立打捆机仿形浮动捡拾控制系统模型并设计模糊PID控制器，搭建控制系统Matlab/Simulink仿真模型验证控制策略可靠性。田间试验结果表明，在丘陵山地区域农田进行玉米秸秆捡拾打捆作业过程，当机具前进速度3 km/h、捡拾滚筒转速110 r/min、捡拾高度100 mm时，仿形浮动捡拾控制系统介入下秸秆捡拾率平均值为96.039%、捆包含土率平均值为3.485%，且作业稳定性及捡拾效果优于手动模式控制，满足设计目标及相关国家标准要求。

Abstract:

Aiming at the problems of low straw pickup rate and high soil content in bales during the straw pickup operation of conventional straw balers under complex working conditions in hilly and mountainous areas, taking the Dewo Technology 9Y-2230 lightweight integrated straw pickup and baling machine as the carrier, an active profiling floating straw pickup control system was designed based on PLC. By analyzing the straw pickup process under complex working conditions of undulating farmland surfaces, the limitations of the pickup device of conventional balers were pointed out, the overall planning and design of the profiling floating straw pickup scheme were clarified, and the structural parameters and working condition ranges of key components of the control system were determined. A model of the profiling floating pickup control system for the baler was established, a fuzzy PID controller was designed, and a Matlab/Simulink simulation model of the control system was built to verify the reliability of the control strategy. Field test results showed that during the corn straw pickup and baling operation in farmlands of hilly and mountainous areas under the working conditions of machine forward speed of 3 km/h, pickup drum speed of 110 r/min and pickup height of 100 mm, the average straw pickup rate was 96.039% and the average soil content in bales was 3.485% with the intervention of the profiling floating pickup control system. Moreover, the operation stability and pickup effect were superior to those of the control group under manual mode control, meeting the design objectives and relevant national standard requirements.