农机具自动调平控制系统设计与试验

摘要

To ensure agricultural implement level can improve the quality of work in agricultural machinery operation process. In order to maintain the level of agricultural implements in the field working, an agricultural implement auto leveling control system was developed. Real-time roll angle of tractor was obtained from tractor roll angle sensing system. The core algorithm of tractor roll angle sensing system was the Kalman filtering algorithm of tractor roll angle, which fused an accelerometer and gyroscope data to obtain the real-time roll angle of tractor. The leveling hydraulic cylinder elongation was measured using a straight-line displacement sensor. And the relative roll angle conversion function between agricultural implements and tractor was established. Then by controlling the electromagnetic directional valve, the agricultural implement was kept leveling. This article introduced the principle and structure of agricultural implement auto leveling control system, and the Kalman filtering algorithm of tractor roll angle and the relative roll angle conversion function were analyzed in detail. The tractor roll angle’s Kalman fusion algorithm was tested in SGT320E three-axis turntable platform, and the experiment of agricultural implement auto leveling control system was carried out in the paddy field based on a matching 1PJ-3.0 laser leveler for paddy field. The leveler featured a specially designed leveling plow connected to an ISEKI PG6 transplanter by means of a hydraulically driven three-point linkage. The auto leveling controller used the Proportional-Derivative (PD) control algorithm to calculate pulse width, modulating for driving two ordinary hydraulic solenoid valves as actuators to regulate the plow’s leveling. In order to evaluate the precision of tractor roll angle sensing system and auto leveling control system, 2 inertial reference systems (MTi-300) were installed in the transplanter and plow, respectively. Results showed that, the tractor roll angle sensing system could accurately measure the real-time tractor roll angle;the mean absolute error, the root mean square error and the maximum error were less than or equal to 0.15°, 0.18° and 0.33° respectively in SGT320E three-axis turntable platform;and during the working process in a paddy field, the mean absolute error, the root mean square error and the maximum error were less than or equal to 0.40°, 0.46° and 1.27°, respectively. The agricultural implement auto leveling control system could better realize the scraper’s leveling control of laser leveler. The mean absolute error, the mean square error and the maximum error of the scraper’s tilt angle were 0.52°, 0.24° and 1.15°, respectively, and in more than 80%of the time, the scraper’s tilt angle of laser leveler was less than 0.5°, which was improved by 0.5° compared with the control precision of original leveling control system of laser-controlled land leveler for paddy field. The study provides a method for auto leveling controlling of agricultural implement, which can improve the work quality of agricultural machinery.%为了使农机具在田间作业时保持水平，该文设计了一种农机具自动调平控制系统。采用拖拉机横向倾角卡尔曼滤波算法融合加速度计和陀螺仪2个传感器数据获得拖拉机实时倾斜角度，直线位移传感器测量调平液压油缸伸长量并建立农机具和拖拉机的相对倾斜角度转换函数，通过控制电磁换向阀实现农机具水平控制。在三轴多功能转台上对拖拉机倾角实时测量算法进行了测试，并在田间对农机具自动调平系统进行了试验，结果表明，拖拉机横滚角传感系统能在动态条件下准确地测量拖拉机实时倾角，在转台上测量角度平均绝对误差≤0.15°，均方根误差≤0.18°，在水田激光平地机作业时测量角度平均绝对误差0.40°；自动调平控制系统能较好地实现平地铲调平控制，平地铲倾斜角度平均绝对误差0.52°，均方根误差0.24°，最大误差1.15°，相对于原水田激光平地机水平控制系统控制精度提高了0.5°。该研究为农机具水平自动调平提供了方法，能够提升农机具作业质量。