大豆收获机割台高度自动控制系统设计与试验

doi:10.13733/j.jcam.issn.2095-5553.2023.06.022

摘要/Abstract

摘要： 针对现有大豆收获机割台高度自动控制系统成本较高、可靠性较差的问题，研制一种基于恶劣环境运动控制器的割台高度自动控制系统。该系统由割台、仿形机构、ECU控制单元、液压系统和HMI触摸屏等组成。在阐述控制系统工作原理的基础上，设计仿形机构及硬件电路。为提高系统可靠性，选用SPC-SFMC-X2214运动控制器为ECU，基于CODESYS软件编写自动控制程序，基于工业触摸屏开发人机交互界面。田间对比试验结果表明，开启割台高度自动控制系统作业时，割茬平均高度与设定的割茬高度偏差4mm，割茬高度变异系数为0.1，相比人工对照组降低28.6%，割台高度控制精度为93%，相比人工对照组提高32.9%，该系统提高大豆割茬高度的整体稳定性，控制精度高，工作稳定性较好，能够满足大豆低割收获要求。

关键词: 大豆收获机, 仿形机构, 割台高度, 自动控制, CODESYS

Abstract: To address the problems of high cost and poor reliability of the existing automatic control system of soybean harvester header height, an automatic header height control system based on a motion controller in harsh environments was developed in this paper. The system consists of a header, profiling mechanism, ECU control unit, hydraulic system, and HMI touch screen. Based on the working principle of the control system, the profiling mechanism and hardware circuit were designed. In order to improve the system reliability, the SPC-SFMC-X2214 motion controller was selected as ECU, the control program was written in the CODESYS programming environment, and the humancomputer interaction interface was developed with an industrial touch screen. The field comparative test results showed that when the automatic control system is used, the deviation between the average height of cutting stubble and the set cutting height was 4 mm, and the variation coefficient of stubble height was 0.1, which was 28.6% lower than that of the control group. The control accuracy of header height was 93%, which was 32.9% higher than that of the control group. The system improved the overall stability of soybean stubble height with high control accuracy and better working stability, which meet the requirements of lowcut soybean harvesting.

Key words: soybean harvester, profiling mechanism, header height, automatic control, CODESYS

中图分类号:

S225.6

刘岗微, 倪有亮, 杨腾祥, 齐彦栋, 金诚谦. 大豆收获机割台高度自动控制系统设计与试验[J]. 中国农机化学报, 2023, 44(6): 155-160.

Liu Gangwei, Ni Youliang, Yang Tengxiang, Qi Yandong, Jin Chengqian. Design and experiment of header height automatic control system for soybean harvester[J]. Journal of Chinese Agricultural Mechanization, 2023, 44(6): 155-160.

参考文献

［1］　
倪有亮, 金诚谦, 陈满, 等. 我国大豆机械化生产关键技术与装备研究进展［J］. 中国农机化学报, 2019, 40(12): 17-25.

Ni Youliang, Jin Chengqian, Chen Man, et al. Research progress on mechanized production technology and equipment of soybean in China ［J］. Journal of Chinese Agricultural Mechanization, 2019, 40(12): 17-25.

［2］　
Tulpule P, Kelkar A. Integrated robust optimal design (IROD) of header height control system for combine harvester ［C］. 2014 American Control Conference. IEEE, 2014: 2699-2704.

［3］　
Kassen D, Kelkar A. Combine harvester header height control via robust feedback linearization ［C］. 2017 Indian Control Conference (ICC). IEEE, 2017: 1-6.

［4］　
Xie Y, Alleyne A G, Greer A, et al. Fundamental limits in combine harvester header height control ［J］. Journal of Dynamic Systems, Measurement, and Control, 2013, 135(3): 034503.

［5］　
Xie Y, Alleyne A. Integrated design and control for header height control of combine harvesters ［C］. 2014 American Control Conference. IEEE, 2014: 2705-2710.

［6］　
杨银辉. 基于超声波传感器的割台高度自动控制系统研究［D］. 杨凌: 西北农林科技大学, 2007.

Yang Yinhui. Research of header height automatic controlling system based on ultrasonic sensor ［J］. Yangling: Northwest A & F University, 2007.

［7］　
朱剑, 尹文庆, 谢蓓. 基于嵌入式的电液比例控制系统在联合收割机割台高度控制中的应用［J］. 液压与气动, 2012(1): 83-86.

Zhu Jian, Yin Wenqing, Xie Bei. The application of embedded electrohydraulic proportional control system for combine harvesters header height control ［J］. Chinese Hydraulics & Pneumatics, 2012(1): 83-86.

［8］　
程念, 胡焉为, 苗玉彬. 收割机割台高度的模糊控制策略研究［J］. 机电一体化, 2018, 24(4): 17-22.

Cheng Nian, Hu Yanwei, Miao Yubin. Research on fuzzy control of harvester header height ［J］. Mechatronics, 2018, 24(4): 17-22.

［9］　
庄肖波, 李耀明. 基于鲁棒反馈线性化的联合收获机割台高度控制策略［J］. 农业机械学报, 2020, 51(11): 123-130.

Zhuang Xiaobo, Li Yaoming. Header height control strategy of harvester based on robust feedback linearization ［J］. Transactions of the Chinese Society for Agricultural Machinery, 2020, 51(11): 123-130.

［10］　
周冬冬, 金诚谦, 倪有亮, 等. 联合收获机割台高度模糊控制系统的设计与试验［J］. 江苏农业科学, 2019, 47(13): 264-267.

Zhou Dongdong, Jin Chengqian, Ni Youliang, et al. Design and test on fuzzy control system for height of combine harvester header ［J］. Jiangsu Agricultural Sciences, 2019, 47(13): 264-267.

［11］　
张聪. 收割机割台仿形与作物测高方法研究［D］. 南京: 东南大学, 2019.

Zhang Cong. Research on header profiling and crop height measurement method ［D］. Nanjing: Southeast University, 2019.

［12］　
Yang R, Wang Z, Shang S, et al. The design and experimentation of EVPIVSPID harvesters header height control system based on sensor ground profiling monitoring ［J］. Agriculture, 2022, 12(2): 282.

［13］　
Ni Y, Jin C, Chen M, et al. Computational model and adjustment system of header height of soybean harvesters based on soilmachine system ［J］. Computers and Electronics in Agriculture, 2021, 183: 105907.

［14］　
Hanssen D H. Programmable logic controllers: A practical approach to IEC 61131-3 using CODESYS ［M］. John Wiley & Sons, 2015.

［15］　
胡涛. 基于CODESYS的自动装车机器人控制系统研究［D］. 青岛: 山东科技大学, 2017.

Hu Tao. Study on control system of automatic palletizing robot for trucks based on CODESYS ［D］. Qingdao: Shandong University of Science and Technology, 2017.

［16］　
金诚谦, 刘岗微, 倪有亮, 等. 基于MBD-DEM耦合的联合收获机割台仿形机构设计与试验［J］. 农业工程学报, 2022, 38(2): 1-10.

Jin Chengqian, Liu Gangwei, Ni Youliang, et al. Design and experiment of header profiling mechanism for combine harvester based on MBD-DEM coupling ［J］. Transactions of the Chinese Society of Agricultural Engineering, 2022, 38(2): 1-10.

[1]	柯超, 谢守勇, 邓成志, 刘凡一, 刘军, . 丘陵山地移栽机自动调平系统设计与试验[J]. 中国农机化学报, 2023, 44(8): 17-26.
[2]	李加琪, 杜娟, 安广顺, 任可芸, 王中義, 印祥, . 高地隙植保机油门自动控制系统研制与试验[J]. 中国农机化学报, 2022, 43(7): 51-56.
[3]	席瑞谦;王娟;李正义;周棕凯;. 奶牛智能饲喂关键技术研究[J]. 中国农机化学报, 2021, 42(2): 190-196.
[4]	李建军;李淼;杜松怀;. 基于光伏供电葡萄籽油加工装置设计与控制[J]. 中国农机化学报, 2020, 41(4): 72-77.
[5]	杜娟;姜斌;尹海峰;张隆梅;金诚谦;印祥;. 稻麦联合收获机拨禾轮转速自动控制装置研制[J]. 中国农机化学报, 2020, 41(12): 1-5.
[6]	陈计远;王红英;段恩泽;金楠;方鹏;祁忠贤;. 兔笼承粪板自动清粪机构及控制系统设计与试验[J]. 中国农机化学报, 2019, 40(3): 66-69.
[7]	徐煌;白学峰;鲁植雄;常江雪;. 基于AMEsim的拖拉机滑转率自动控制研究[J]. 中国农机化学报, 2019, 40(3): 117-121.
[8]	金永奎;张玲;薛新宇;张学进;孙竹;. 基于批次式包衣机的智能化专家系统设计[J]. 中国农机化学报, 2019, 40(11): 161-168.