CN102929146A - Device and method for realizing model reference adaptive control on operation speed of combine harvester - Google Patents
Device and method for realizing model reference adaptive control on operation speed of combine harvester Download PDFInfo
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- CN102929146A CN102929146A CN2012104095266A CN201210409526A CN102929146A CN 102929146 A CN102929146 A CN 102929146A CN 2012104095266 A CN2012104095266 A CN 2012104095266A CN 201210409526 A CN201210409526 A CN 201210409526A CN 102929146 A CN102929146 A CN 102929146A
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Abstract
The invention discloses a device and a method for realizing model reference adaptive control on operation speed of a combine harvester and mainly relates to the field of agricultural machinery. The device is characterized by consisting of a controller, a touch screen, a sensor system, a manual/automatic selector switch and an execution system. The sensor system is used for acquiring signals of a threshing cylinder, a header auger, and a conveying trough, an input amount signal and a loss amount signal and the like of the combine harvester; the manual/automatic selector switch is used for switching between a manual state and an automatic state; the execution system consists of an amplifier, a speed control valve and an electronic control handle; and during work, the controller receives the signals acquired by the sensor system, and the operation speed of the combine harvester is adaptively controlled by a model reference adaptive control algorithm. In the control process, the running state of the combine harvest is displayed by the touch screen, and if the combine harvest is failed, an audible and visual alarm system on the touch screen can perform audible and visual alarm.
Description
Technical field
The present invention relates to agricultural mechanical field, particularly a kind of combine operation rate pattern Model Reference Adaptive Control device.
Background technology
Fast development along with mechanization of agriculture, the application of united reaper in agricultural production is also more and more extensive, promoted greatly the economic development in rural area, united reaper is as main harvest machinery, raising along with farmers' income, comfortableness and intelligent requirements to its manipulation are more and more higher, and united reaper is inexorable trend towards the intelligent direction development.The operating speed of united reaper determines that by factors such as cropping intensity, humidity, field soil situation, swaths different field conditions correspondences different best operating speeds.Traditional operating type mainly is the personal experience who relies on the driver, and high to driver's operant level requirement, labour intensity is large, and is difficult to search out between high operating efficiency and less trouble suitable equilibrium point.Therefore, the meaning of research combine operation Auto speed-control system just is to alleviate driver's labour intensity, and can obtain more accurately the job state of harvester, obtains higher operating efficiency under trouble-free state.
Summary of the invention
Technical matters to be solved by this invention: overcome the technical disadvantages of the said equipment, a kind of combine operation rate pattern Model Reference Adaptive Control device based on many monitoring points state parameter is provided.This device can show in real time to the state of each setting of united reaper, the independent setup control model parameter of energy, and carry out to carry out data storage and reproduction in the self-adaptation adjusting of operating speed and acceleration, the adaptive optimization of controlling parameter, the process of the test, this device can make united reaper under the prerequisite of non-fault, low loss, obtain best operating speed, keep reasonable, uniform feed quantity.
The technical solution adopted for the present invention to solve the technical problems is: combine operation rate pattern Model Reference Adaptive Control device is comprised of hardware system and software systems.Hardware system is comprised of controller, touch-screen, sensing system, manual/auto change-over switch, executive system.Manual/auto change-over switch is used for the switching of united reaper manual state and auto state; Controller is comprised of Programmable Logic Controller PLC and peripheral circuit thereof; Touch-screen can show the running status of united reaper, when united reaper breaks down, can carry out sound and light alarm by the acoustooptic alarm system on the touch-screen; Executive system is comprised of amplifier, speed control valve and electric control handle; Sensing system forms by measuring the sensor such as operating speed, threshing cylinder rotating speed, defeated grain screw feeder rotating speed, delivery chute rotating speed, feed quantity, loss amount and modulate circuit thereof.By sensing system each running parameter of united reaper is monitored, realize the automatic adjustment of combine operation speed by controller and amplifier governing speed operation valve, show simultaneously the running status of united reaper by touch-screen, software systems mainly are comprised of signal detection module, recursive model reference adaptive algorithm module and operating speed control module etc.
Technical solution of the present invention comprises the steps:
A. do not press manual/auto change-over switch, united reaper is in the manual work state; Press manual/auto change-over switch, amplifier is connected with speed control valve, united reaper is in automatic control state.
B. sensing system gathers each road signal of united reaper, is input to after processing through relevant modulate circuit and sets up model reference adaptive control model in the controller.
C. controller is according to the model reference adaptive control model of setting up, according to the different duty of united reaper, select different control strategies that amplifier is controlled, the aperture of amplifier control rate operation valve, thus realization is to the adaptive control of combine operation speed.
The invention has the beneficial effects as follows, on the basis of the existing hydraulic pressure buncher of united reaper manual governing mechanism, added operating speed model reference adaptive control device, gather united reaper working state signal input Programmable Logic Controller PLC by sensing system and carry out the recursive model reference adaptive algorithm resume module, select corresponding control strategy, the work of driving executive system, thereby realize the control of combine operation speed adaptive, show in real time simultaneously the duty of united reaper, in time carry out sound and light alarm when running into fault.
Description of drawings
The present invention is further described below in conjunction with drawings and Examples.
Fig. 1 is combine operation rate pattern Model Reference Adaptive Control device principle of work block diagram.
Fig. 2 is combine operation rate pattern Model Reference Adaptive Control device hardware circuit diagram.
Fig. 3 is combine operation rate pattern Model Reference Adaptive Control device control module schematic diagram.
Fig. 4 is combine operation rate pattern Model Reference Adaptive Control method flow diagram.
Fig. 5 is the model reference control subroutine flow chart.
Fig. 6 is that combine operation rate pattern Model Reference Adaptive Control mounted cast is with reference to rule list.
Embodiment
As depicted in figs. 1 and 2, the hardware system of combine operation rate pattern Model Reference Adaptive Control device is comprised of controller 2, touch-screen 1, sensing system 3, manual/auto change-over switch 6, executive system, and wherein executive system comprises electric control handle 5, speed control valve 7 and amplifier 4.
Described sensing system 3 is comprised of the sensor that is installed on each monitoring point on the united reaper 8, comprise the Hall revolution speed transducer that is installed in threshing cylinder, defeated grain screw feeder and the feeder wheel rotating shaft, be installed on feed quantity sensor and the loss amount sensor that is installed on united reaper 8 sieve afterbodys in the cutting table auger rotating shaft.The input end of the output termination controller 2 of sensing system 3.
Described touch-screen 1 is connected with controller 2 output terminals, is used for showing the running status of united reaper 8, when united reaper 8 breaks down, can carry out sound and light alarm by the acoustooptic alarm system on the touch-screen.
Described controller 2 is comprised of Programmable Logic Controller and modulate circuit thereof, and the input end of controller 2 is connected with the output terminal of sensing system 3, and output terminal is connected with touch-screen 1, the input end of the output termination amplifier 4 of controller 2.The output terminal of amplifier 4 accesses the free end of manual/auto change-over switch 6, the common port of manual/auto change-over switch 6 links to each other with the speed control valve 7 of united reaper 8, the free termination electric control handle 5 of another of manual/auto change-over switch 6 is realized the switching of united reaper 8 hand control and automation states by manual/auto change-over switch 6.Manually control is by electric control handle 5 direct control rate operation valves 7, and control is by controller 2 output voltage driving amplifiers 4 control rate operation valves 7 automatically.Speed control valve 7 is the ratio two-way valve, according to circulating direction and the uninterrupted of sense of current and big or small operation valve.When manually controlling, manual/auto change-over switch 6 is communicated with speed control valve 7 with electric control handle 5.Electric control handle 5 is electric ratio output, Non voltage output when handle places meta, and pushing ratio output forward voltage before handle is when the handle post-tensioning is exported reverse voltage in proportion, by the output voltage control speed control valve 7 of handle.When automatically controlling, manual/auto change-over switch 6 is communicated with speed control coil two ends with amplifier 4.This moment, handle lost efficacy, and the operating speed of united reaper 8 is fully by controller 2 controls.The function of amplifier 4 be with the voltage linear of controller 2 output be converted into current drives speed control valve 7, must demarcate it before use.By MIN knob regulation output electric current, when making 2 pairs of amplifiers of controller, 4 input minimum voltage value, amplifier 4 output currents are 0; By MAX knob regulation output electric current, when making 2 pairs of amplifiers of controller, 4 input maximum voltage value, amplifier 4 output currents just in time can make the operating speed of united reaper 8 maximum.After amplifier 4 was adjusted and finished, the magnitude of voltage that only need change input end VI can be controlled the operating speed of united reaper 8.
Combine operation rate pattern Model Reference Adaptive Control principle and flow process as shown in Figure 3, model reference adaptive control mainly is comprised of four parts: controlled device, reference model, adaptive controller and adaptive law.Wherein, r is the input of system, and u is the control signal of fuzzy controller output, and y is the actual output of controlled device, y
mBe the reference value of output, e is the deviation of actual output and reference value,
Be parameter adjustment.
The united reaper adaptive control is shown in Fig. 4,5, control system is at first called the adaptive control program, according to the adaptive control program united reaper being carried out adaptive speed regulates, then gather Monitoring Data by touch-screen, whether the pace of judging united reaper by reference flowchart shown in Figure 5 meets reference model, if meeting reference model, pace then carries out the optimization of data, if do not meet the judgement that reference model then re-starts data.
United reaper self-adaptation control method of the present invention, its concrete steps are:
Module parameter in step 1, the setting controller 2.If N
1, N
2, N
3, N
4, N
5Be respectively the speed reference under cutting table auger, threshing cylinder, defeated grain screw feeder, pace, the delivery chute normal operation condition, n
1, n
2, n
3, n
4, n
5Be respectively the actual speed measured value of cutting table auger, threshing cylinder, defeated grain screw feeder, pace, delivery chute, M
1, M
2Be respectively the higher limit of feed quantity and loss amount, m
1, m
2Be respectively the actual measured value of feed quantity and loss amount.Results situation according to paddy rice and wheat is different, has set respectively the initial reference model under the normal operating conditions.
Step 2, controller 2 gather the information of feed quantity, travel speed, threshing cylinder rotating speed, defeated grain screw feeder rotating speed, loss amount by sensor-based system.Information is processed, obtained the state value of each monitoring point, show each monitoring point state by touch-screen.
Step 3, controller 2 are processed the state value of each monitoring point by the model reference adaptive control module and are merged.As shown in Figure 3, each monitoring point state value merges by self-adaptive control module after reference model is processed first.The design process of adaptive controller is as follows.
The state equation of supposing controlled device is
(
) （1）
The hypothetical reference model is linear system, and is determined by formula (4.2):
All eigenwerts of supposing again A have negative real part, and then this model reference system has an asymptotically stable equilibrium state.Make error vector
eFor:
By a suitable control vector
u, so that error vector is reduced to zero.Can be got by formula (1) and (2)
Design a controller, so that when stable state,
With
Or
Therefore, the emphasis of model reference adaptive control is designed an adaptive controller exactly, by the control variable of adaptive controller output
u, so that the output of controlled device and the deviation between the reference model
eBe zero.
Step 4, controller 3 are selected corresponding reference model.FEEDBACK CONTROL in the adaptive system is according to the state of actual each monitoring point and the error of the optimal parameter that sets, draw corresponding reference model through adaptive controller, by ADAPTIVE CONTROL so that the state of each monitoring point levels off to the model that sets.Set altogether three kinds in the adaptive controller of native system with reference to model, called after is normal, unusual, fault respectively.The reference model of normal operating conditions is the setting value in the step 1, wherein the speed reference of cutting table auger, threshing cylinder, defeated grain screw feeder, delivery chute can be made amendment according to the difference of harvesting environment, and feed quantity and loss amount are the fixing performance index of united reaper; Operating speed is 50% under the normal operating conditions in the abnormal work state reference model; Operating speed is 0 in the malfunction reference model.The model reference rule as shown in Figure 6, the upper limit of 5 road tachometer values is respectively the tachometer value under united reaper maximum throttle and the light condition, the priority that reference model is chosen is: fault〉unusual normal, enter failure state model when namely fault being arranged, non-fault has and enters the abnormality model when unusual, and non-fault just enters the normal condition model when unusual.
Step 5, judge whether manually to control, if enter manual control, then the adaptive control of united reaper pace finishes, and touch-screen still shows its duty.If do not enter manual control, then return step 2, proceed adaptive control.
Claims (4)
1. a combine operation rate pattern Model Reference Adaptive Control device is characterized in that: comprise controller (2), touch-screen (1), sensing system (3), manual/auto change-over switch (6), executive system; The output terminal of described controller (2) links to each other with touch-screen (1), and the input end of controller (2) is connected with sensing system (3) output terminal, and the receiving sensor system acquisition is to the signal of (3); Described touch-screen (1) is built-in with acoustooptic alarm system; Described executive system comprises amplifier (4), speed control valve (7), electric control handle (5), and described amplifier (4) one ends are connected with the output terminal of controller (2), and the other end of amplifier (4) is connected with manual/auto change-over switch (6) one ends; The other end of manual/auto change-over switch (6) is connected with speed control valve (7); Speed control valve (7) is by being connected its operating speed of control with united reaper (8); Described electric control handle (5) is connected with manual/auto change-over switch (6), realizes the switching of manual/auto two kinds of state of a controls; Described sensing system (3) is installed on the united reaper (8).
2. combine operation rate pattern Model Reference Adaptive Control device according to claim 1, it is characterized in that: entering the signal of controller under the automatic control state (2) according to sensing system (3), select control strategy according to the recursive model reference adaptive algorithm module self, united reaper (8) operating speed is controlled automatically.
3. implement the control method of combine operation rate pattern Model Reference Adaptive Control device claimed in claim 1, it is characterized in that, comprise the steps:
A. do not press manual/auto change-over switch (6), united reaper (8) is in the manual work state; Press manual/auto change-over switch (6), amplifier (4) is connected with speed control valve (7), united reaper (8) is in automatic control state;
B. sensing system (3) gathers each road signal of united reaper (8), is input to after processing through relevant modulate circuit and sets up model reference adaptive control model in the controller (2);
C. controller is according to the model reference adaptive control model of setting up, duty according to united reaper (8), select control strategy that amplifier (4) is controlled, the aperture of amplifier (4) control rate operation valve (7), thus realization is to the adaptive control of united reaper (8) operating speed.
4. control method according to claim 3, it is characterized in that: the step of setting up model reference adaptive controller is: utilize first the empirical data under the manually control to set up reference model, each road signal that sensing system (3) is collected and the setting value in the reference model compare, when deviation appears in the actual parameter of united reaper (8) and the parameter in the reference model, adjust according to adaptive law, thus in time the adjust united reaper operating speed of (8).
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Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527514A (en) * | 2015-09-10 | 2017-03-22 | 迪尔公司 | Harvester fan speed control based on yield |
| CN108934416A (en) * | 2018-07-06 | 2018-12-07 | 巢湖学院 | One kind being based on BP neural network combined harvester multi-parameter operation-control system and method |
| CN109085750A (en) * | 2018-08-17 | 2018-12-25 | 江苏农牧科技职业学院 | A kind of combine harvester takes off separating device feedback loading control system and method |
| CN109548465A (en) * | 2019-01-11 | 2019-04-02 | 雷沃重工股份有限公司 | The autocontrol method and control system and cropper of a kind of roller variable speed |
| CN110050570A (en) * | 2018-05-22 | 2019-07-26 | 农业部南京农业机械化研究所 | The control mechanism and method that combine harvester forward speed steadily switches |
| CN115016251A (en) * | 2022-06-15 | 2022-09-06 | 中国热带农业科学院农业机械研究所 | Electric control type vegetable harvester control system and control method |
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Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106527514A (en) * | 2015-09-10 | 2017-03-22 | 迪尔公司 | Harvester fan speed control based on yield |
| CN110050570A (en) * | 2018-05-22 | 2019-07-26 | 农业部南京农业机械化研究所 | The control mechanism and method that combine harvester forward speed steadily switches |
| CN108934416A (en) * | 2018-07-06 | 2018-12-07 | 巢湖学院 | One kind being based on BP neural network combined harvester multi-parameter operation-control system and method |
| CN109085750A (en) * | 2018-08-17 | 2018-12-25 | 江苏农牧科技职业学院 | A kind of combine harvester takes off separating device feedback loading control system and method |
| CN109548465A (en) * | 2019-01-11 | 2019-04-02 | 雷沃重工股份有限公司 | The autocontrol method and control system and cropper of a kind of roller variable speed |
| CN109548465B (en) * | 2019-01-11 | 2021-06-29 | 潍柴雷沃重工股份有限公司 | Automatic control method and system for stepless speed change of roller and harvester |
| CN115016251A (en) * | 2022-06-15 | 2022-09-06 | 中国热带农业科学院农业机械研究所 | Electric control type vegetable harvester control system and control method |
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Application publication date: 20130213 Assignee: Shandong Jin Dafeng Machinery Co., Ltd. Assignor: Jiangsu University Contract record no.: 2019320000221 Denomination of invention: Device and method for realizing model reference adaptive control on operation speed of combine harvester Granted publication date: 20150610 License type: Exclusive License Record date: 20190705 |