甘蔗收获机入土切割深度控制系统研究

Under-the-ground Basecutting Control System of Sugarcane Harvester

甘蔗入土切割可以有效降低根切破头率,由于西南丘陵山地蔗田凹凸不平,现有甘蔗收获机难以控制刀盘进行入土切割作业,导致甘蔗机收产生大量根切破头。针对以上问题,本文利用自行研制的甘蔗入土切割试验台,基于角度传感器、切割压力传感器,设计了一种多传感器数据融合的入土切割控制系统,开发了基于PID算法的刀盘高度控制策略,运用Matlab/Simulink构建系统仿真模型。仿真结果表明,入土切割控制系统的稳定时间为0.67 s,超调量为8.6%。为验证入土切割控制系统的作业效果,以前进速度、地面波长和地面振幅为试验因素模拟蔗田路面,进行了台架试验。试验结果表明,当前进速度为1 km/h、地面波长为1 m、地面振幅为4 cm时,最小平均入土切割深度误差为3.26 mm。当前进速度为3 km/h、地面波长为1 m、地面振幅为12 cm时,最大平均入土切割深度误差为8.87 mm,刀盘可以保持入土切割。研究可为入土切割控制系统的开发提供数据支撑和理论依据。

Sugarcane is a perennial crop,and good cutting quality can promote the growth and germination of sugarcane in the coming year.A large number of experimental studies have shown that under-the-ground basecutting can effectively reduce the stubble damage.Due to the unevenness of sugarcane fields in the hilly and mountainous areas of southwestern China,it is difficult for sugarcane harvesters to keep under-the-ground basecutting,resulting in a large amount of stubble damage.Therefore,based on angle sensors and cutting pressure sensors,the test bench was developed to design a multi-sensor data fusion control system.The basecutter height control strategy based on PID algorithm was developed,and the simulation model of the system was built by Matlab/Simulink.The simulation results showed that the stability time of the system was 0.67 s,and the overshoot was 8.6%.To verify the performance of the control system,the bench test was carried out to simulate the sugarcane ground surface with forward speed,ground wavelength and ground amplitude as test factors.The experimental results showed that the minimum average cutting depth error was 3.26 mm when the forward speed was 1 km/h,the ground wavelength was 1m and the ground amplitude was 4 cm.When the forward speed was 3 km/h,the ground wavelength was 1m,and the ground amplitude was 12 cm,the maximum average cutting depth error was 8.87 mm,and the basecutter can keep under-the-ground basecutting.The research provided data support and theoretical basis for the development of the control system for under-the-ground basecutting.