摘要
针对现有稻麦联合收获机割台高度自动调节系统存在传感器受环境干扰大、安装复杂和成本高等问题,提出一种基于车身倾角和割台倾角的割台高度间接测量方法,建立了相关的数学模型,并在此基础上研制一种基于倾角传感器的割台高度自适应调节系统。通过数学模型验证试验对比计算割台高度与实测割台高度以验证数学模型的准确性,并采用割台高度控制精度试验、系统响应速度试验和模拟田间过障试验验证基于倾角传感器的割台高度自适应调节系统的控制效果。结果表明:1)计算割台高度与实测割台高度变化曲线相关性系数为0.97,验证了数学模型的准确性;2)割台高度控制最大误差为18 mm;3)割台平均上升速度为0.22 m/s,下降速度0.17m/s;4)在模拟田间过障试验中,相同过障条件下,开启该系统可将割台高度稳定性变异系数由未开启该系统条件下的10.77%降低为2.79%,鲁棒性好。本系统满足联合收获机的作业需求,适用于有小障碍物且较为平整的作业环境,可实现低成本、实时的自适应调节且安装方便。
Aiming at the problems such as large sensor interference from the environment,complicated installation and high cost existed in current automatic adjustment system for the header height of the rice-wheat combine harvester,an indirect measurement method of header height based on vehicle body inclination and header inclination is proposed.Related mathematical model is established and an adaptive adjustment system of header height based on inclination sensor is developed on this basis.The mathematical model verification test is performed to compare the calculated header height with the actual header height to verify the accuracy of the mathematical model.The header height control accuracy test,the system response speed test and the simulated field crossing test are used to verify the control effect of the adaptive adjustment system of header height based on inclination sensor.The results show that:1)The correlation coefficient between the calculated header height and the measured header height change curve is 0.97,which verifies the accuracy of the mathematical model.2)The maximum error of the header height control is 18 mm.3)The average ascent speed of the header is 0.22 m/s and the average descent speed is 0.17 m/s.4)In the simulated field crossing test,under the same obstacle conditions,turning on the system can reduce the coefficient of variation of the high stability of the header from 10.77%when the system is not turned on to 2.79%,and the robustness is good.This system meets the operational requirements of the combine harvester,and is suitable for a relatively flat working environment with small obstacles.The system can realize low-cost,real-time adaptive adjustment and is easy installation.
作者
龙震寰
向阳
李亚军
胡正方
刘安稳
代秀峰
LONG Zhenhuan;XIANG Yang;LI Yajun;HU Zhengfang;LIU Anwen;DAI Xiufeng(College of Engineering,Hunan Agricultural University,Changsha 410128,China)
出处
《中国农业大学学报》
CAS
CSCD
北大核心
2021年第11期200-208,共9页
Journal of China Agricultural University
基金
湖南省重点研发计划(2019NK2151,2018NK2064)。
关键词
联合收获机
倾角传感器
割台高度
自适应调节
combine harvester
inclination sensor
header height
adaptive adjustment
