CN111856948A - Accurate variable fertilization electrohydraulic control device and control method - Google Patents
Accurate variable fertilization electrohydraulic control device and control method Download PDFInfo
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- 230000004720 fertilization Effects 0.000 title claims abstract description 95
- 238000000034 method Methods 0.000 title claims abstract description 17
- 239000003337 fertilizer Substances 0.000 claims abstract description 48
- 230000001105 regulatory effect Effects 0.000 claims abstract description 17
- 230000003750 conditioning effect Effects 0.000 claims abstract description 10
- 239000003921 oil Substances 0.000 claims description 26
- 238000007599 discharging Methods 0.000 claims description 15
- 238000012545 processing Methods 0.000 claims description 13
- 238000004891 communication Methods 0.000 claims description 12
- 238000005259 measurement Methods 0.000 claims description 11
- 238000006243 chemical reaction Methods 0.000 claims description 9
- 230000005540 biological transmission Effects 0.000 claims description 8
- 239000003638 chemical reducing agent Substances 0.000 claims description 7
- 239000010720 hydraulic oil Substances 0.000 claims description 7
- 230000002159 abnormal effect Effects 0.000 claims description 6
- 235000015097 nutrients Nutrition 0.000 claims description 6
- 238000005516 engineering process Methods 0.000 claims description 4
- 230000010354 integration Effects 0.000 claims description 4
- 238000001514 detection method Methods 0.000 claims description 3
- 238000004458 analytical method Methods 0.000 claims description 2
- 230000001276 controlling effect Effects 0.000 claims description 2
- 230000008054 signal transmission Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 5
- 230000009286 beneficial effect Effects 0.000 description 3
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 230000035558 fertility Effects 0.000 description 2
- 238000004364 calculation method Methods 0.000 description 1
- 238000006073 displacement reaction Methods 0.000 description 1
- 238000012544 monitoring process Methods 0.000 description 1
- 239000002689 soil Substances 0.000 description 1
- 230000001360 synchronised effect Effects 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B15/00—Systems controlled by a computer
- G05B15/02—Systems controlled by a computer electric
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C15/00—Fertiliser distributors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B11/00—Servomotor systems without provision for follow-up action; Circuits therefor
- F15B11/02—Systems essentially incorporating special features for controlling the speed or actuating force of an output member
- F15B11/04—Systems essentially incorporating special features for controlling the speed or actuating force of an output member for controlling the speed
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B13/00—Details of servomotor systems ; Valves for servomotor systems
- F15B13/02—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors
- F15B13/04—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor
- F15B13/044—Fluid distribution or supply devices characterised by their adaptation to the control of servomotors for use with a single servomotor operated by electrically-controlled means, e.g. solenoids, torque-motors
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- F—MECHANICAL ENGINEERING; LIGHTING; HEATING; WEAPONS; BLASTING
- F15—FLUID-PRESSURE ACTUATORS; HYDRAULICS OR PNEUMATICS IN GENERAL
- F15B—SYSTEMS ACTING BY MEANS OF FLUIDS IN GENERAL; FLUID-PRESSURE ACTUATORS, e.g. SERVOMOTORS; DETAILS OF FLUID-PRESSURE SYSTEMS, NOT OTHERWISE PROVIDED FOR
- F15B21/00—Common features of fluid actuator systems; Fluid-pressure actuator systems or details thereof, not covered by any other group of this subclass
- F15B21/04—Special measures taken in connection with the properties of the fluid
- F15B21/041—Removal or measurement of solid or liquid contamination, e.g. filtering
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D21/00—Measuring or testing not otherwise provided for
- G01D21/02—Measuring two or more variables by means not covered by a single other subclass
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Abstract
The invention belongs to the technical field of agricultural machinery, and particularly relates to a precise variable fertilization electrohydraulic control device and a control method. The system comprises an electro-hydraulic driving mechanism and a main control system; the electro-hydraulic driving mechanism comprises an overflow valve, an electro-hydraulic proportional speed regulating valve, an electric control ball valve and a hydraulic motor; the main control system comprises an embedded computer, a touch screen, a Beidou navigation receiver, a speed measuring radar sensor, a rotating speed sensor, a fertilization actuating mechanism torque sensor and a signal conditioning circuit; the invention relates to an accurate variable fertilization electrohydraulic control device and a control method, wherein the advancing speed of a fertilizer applicator is not influenced by variable fertilization operation, the advancing speed of a tractor can advance at a certain stable speed, and the variable fertilization amount can calculate the rotating speed of a hydraulic motor through the real-time fertilization amount to realize variable fertilization, so that the problems of poor adaptability, low efficiency and the like of the existing variable fertilization device are solved.
Description
Technical Field
The invention belongs to the technical field of agricultural machinery, and particularly relates to a precise variable fertilization electrohydraulic control device and a control method.
Background
Along with the intelligent and fine requirements of agricultural operation, the influence of the fertilizer application amount on the yield and quality of agricultural crops is more and more concerned. Therefore, variable fertilization of farmland plots to standard fields based on the Beidou navigation and the GIS information system is an effective way for improving crop growth.
In the past, variable fertilization is based on a GPS/GIS, and targeted fertilization is performed on fertility of a land parcel determined and calibrated by geographic information of the GIS, which is not enough.
In the past, the rotating speed of a variable fertilizing and fertilizing shaft is synchronous with the rotating speed of a land wheel of a fertilizing machine, so that the travelling speed of a tractor is influenced by variable fertilizing operation, the tractor can always be in an unstable state when travelling, the performance of the tractor is influenced, and the like.
Disclosure of Invention
The invention provides an accurate variable fertilization electrohydraulic control device and a control method, wherein the advancing speed of a fertilizer applicator is not influenced by variable fertilization operation, the advancing speed of a tractor can advance at a certain stable speed, and the variable fertilization amount can calculate the rotating speed of a hydraulic motor through the real-time fertilization amount to realize variable fertilization, so that the problems of poor adaptability, low efficiency and the like of the existing variable fertilization device are solved.
The technical scheme of the invention is described as follows by combining the attached drawings:
An electro-hydraulic control device for precise variable fertilization comprises an electro-hydraulic driving mechanism and a main control system; the electro-hydraulic driving mechanism comprises an overflow valve 5, an electro-hydraulic proportional speed regulating valve 8, an electric control ball valve 7 and a hydraulic motor 9; the main control system comprises an embedded computer, a touch screen, an AD/DA conversion device, a Beidou navigation receiver 11, a speed measuring radar sensor 12, a rotating speed sensor 15, a fertilization actuating mechanism torque sensor 17 and a signal conditioning circuit; the signal conditioning circuit comprises a signal amplifier and a low-pass filter; the overflow valve 5 is fixed in a variable fertilization hydraulic element integration device 13 at the front end of a fertilizer applicator frame 20, an oil inlet of the overflow valve is connected with a hydraulic power output interface of a tractor through a quick connector 6 and is connected with one end of an electric control ball valve 7, and an oil outlet of the overflow valve is connected with an oil return tank 1; the other end of the electric control ball valve 7 is connected with an oil inlet of an electro-hydraulic proportional speed regulating valve 8; an oil outlet of the electro-hydraulic proportional speed regulating valve 8 is connected with an oil inlet of a hydraulic motor 9; an oil outlet of the hydraulic motor 9 is connected with the front end of a hydraulic oil return pipeline; the rear end of the hydraulic oil return pipeline is connected with the oil tank 1 through a quick connector; the power output shaft of the hydraulic motor 9 is connected with a fertilizer discharging shaft 18 of the fertilizer applicator through a speed reducer 14; the Beidou navigation receiver 11 is fixed at the top of a tractor cab, and a signal leading-out end of the Beidou navigation receiver is connected with a serial port communication port of an embedded computer; the speed measuring radar sensor 12 is fixed on the side wall of the tractor cab, and a communication cable of the speed measuring radar sensor is connected with a serial port communication port of the embedded computer; the rotating speed sensor 15 is fixed on the fertilizing shaft, and a signal outgoing line of the rotating speed sensor is connected with a digital input interface of the embedded computer; the rotating speed sensor 15 measures a rotating speed feedback signal of the fertilizing shaft and feeds the rotating speed feedback signal back to the main control embedded computer to form closed-loop control; the torque sensor 17 of the fertilization actuating mechanism is fixed on the fertilization shaft 18, and a signal outgoing line of the fertilization actuating mechanism is connected with a data bus port of the embedded computer through a signal conditioning circuit; the touch screen is fixed on an operation table of a tractor cab and is connected with the embedded computer through a communication cable to realize signal transmission; the input end of an AD converter in the AD/DA conversion device is connected with the output end of the low-pass filter, and the output end of the AD converter is connected with the embedded computer; the input end of a DA converter in the AD/DA conversion device is connected with the embedded computer, and the output end of the DA converter is connected with the signal amplifier; the input end of the low-pass filter is connected with a torque sensor 17 of the fertilization actuating mechanism.
The embedded computer stores a control system main program, and the control system main program comprises a fertilization amount processing module, a measurement display module and an alarm module; wherein,
the fertilization amount processing module is used for combining the positioning information and a prescription chart for dividing each plot based on GIS fertilization farmland grids, obtaining fertilization amount data of the current plot, and calculating rotating speed data of the fertilizer discharging shaft 18;
the measurement display module processes the received detection information of each sensor and displays the information through the touch screen;
the alarm module is used for indicating that a transmission mechanism of the speed sensor 15 and the torque sensor 17 has a problem when feedback information exceeds a preset value range, the buzzer is connected, and the alarm lamp is connected to prompt; when information is not matched in the operation process, namely the rotating speed sensor 15 is not matched with the fertilization amount information, the problem of the main program of the control system is shown, the alarm module is called by the main program of the control system at the moment, and when the information is abnormal, the alarm module is called by the main program of the control system by the Beidou navigation receiver 11.
An accurate variable fertilization electrohydraulic control method comprises the following steps:
the method comprises the following steps that firstly, satellite signals are received in real time through a Beidou navigation receiver 11, the position information of a current plot where a fertilizer applicator is located is obtained, and the signals are transmitted to a measurement display module;
Step two, a plot nutrient data table established by using a geographic information system database technology of the GIS is used as a scientific fertilization basis, and at the moment, a fertilization amount processing module obtains the position information, performs comparison analysis on the position information and the plot nutrient data table, gives a precise fertilization prescription chart, namely obtains the fertilization amount of the current plot and transmits the information to a measurement display module;
thirdly, the fertilizer application amount processing module measures the travelling speed of the tractor through the speed measuring radar sensor 12 and calculates the driving according to a formula 1, a formula 2 and a formula 3The required rotational speed r of the hydraulic motor 9m：
In the formula, QnFertilizing and using amount for the real-time plots;
is the travel speed of the tractor; thetanThe unit time of the fertilizer apparatus is the fertilizer amount per minute;
in the formula, L is the fertilizer amount of the variable fertilizer applicator per rotation, and the unit is L/r;
the rotating speed of the fertilizer discharging shaft is r/min;
in the formula, rmThe unit is r/min which is the rotating speed of the hydraulic motor, and t is the transmission ratio of the speed reducer;
step four, according to the rotating speed information required by the hydraulic motor 9, a corresponding control output digital signal is given, the control output digital signal is converted into an analog voltage control signal through an AD/DA conversion device, the rotating speed of the hydraulic motor 9 is controlled by controlling the output flow of the electro-hydraulic proportional speed regulating valve 8, and meanwhile, a rotating speed sensor 15 measures a rotating speed feedback signal of the fertilizer discharging shaft 18 in real time to meet the comparison requirement of a main program of a control system, so that accurate fertilization is realized;
And fifthly, presetting a threshold value for the torque sensor 17 by a main program of the control system, and when the torque sensor 17 reaches the threshold value, indicating that the transmission of the fertilizing mechanism is abnormal, early warning by a warning module, and switching on a buzzer and a warning lamp in the warning module.
The invention has the beneficial effects that:
1) the accurate variable fertilization electrohydraulic control device can automatically adjust the rotating speed of a hydraulic motor, improve the flexibility and adaptability of variable fertilization and improve the operation efficiency;
2) the accurate variable fertilization electrohydraulic control device provided by the invention adopts the Beidou navigation technology and the speed measuring radar of the independent intellectual property rights of China to provide an accurate positioning signal and an accurate test, namely fertilization operation land information, and provides a positioning information guarantee for intelligent variable fertilization;
3) the accurate variable fertilization electrohydraulic control device provides real-time on-line variable fertilization operation state signals, provides operation abnormity early warning, and is beneficial to safe and reliable variable fertilization operation. Fertilizer volume detects in the fertilizer box, the mismatching early warning of fertilization volume, and intelligent monitoring, automatic operation function and level are strengthened, reduce artificial intervention degree, alleviate operating personnel working strength.
Drawings
FIG. 1 is a schematic structural diagram of an accurate variable fertilization electrohydraulic control device according to the invention;
FIG. 2 is a schematic layout diagram of the precise variable fertilization electrohydraulic control device according to the invention;
FIG. 3 is a schematic structural view of a variable rate fertilizing mechanism;
fig. 4 is a schematic diagram of a main control system of the precise variable fertilization electrohydraulic control device.
In the figure: 1. an oil tank; 2. a fine filter; 3. a constant delivery pump; 4. a hydraulic power source; 5. an overflow valve; 6. a quick coupling; 7. an electrically controlled ball valve; 8. an electro-hydraulic proportional speed regulating valve; 9. a hydraulic motor 10, a coarse filter; 11. a Beidou navigation signal sensor; 12. a speed measuring radar sensor; 13. a variable fertilization hydraulic component integration device; 14. a speed reducer; 15. a rotational speed sensor; 16. a coupling; 17. a torque sensor; 18. a fertilizer discharging shaft; 19. a fertilizer apparatus; 20. a fertilizer applicator frame.
Detailed Description
Referring to fig. 1, fig. 2 and fig. 3, the electro-hydraulic control device for precise variable fertilization comprises an electro-hydraulic driving mechanism and a main control system.
The electro-hydraulic driving mechanism comprises an overflow valve 5, an electro-hydraulic proportional speed regulating valve 8, an electric control ball valve 7 and a hydraulic motor 9.
The overflow valve 5 is fixed in a variable fertilization hydraulic element integration device 13 at the front end of a fertilizer applicator frame 20, an oil inlet of the overflow valve is connected with a hydraulic power output interface of a tractor through a quick connector 6 and is connected with one end of an electric control ball valve 7, and an oil outlet of the overflow valve is connected with an oil return tank 1; the other end of the electric control ball valve 7 is connected with an oil inlet of an electro-hydraulic proportional speed regulating valve 8; an oil outlet of the electro-hydraulic proportional speed regulating valve 8 is connected with an oil inlet of a hydraulic motor 9; an oil outlet of the hydraulic motor 9 is connected with the front end of a hydraulic oil return pipeline; the rear end of the hydraulic oil return pipeline is connected with the oil tank 1 through a quick connector 6; the hydraulic motor 9 is used as a driving actuator of the fertilizing mechanism, and a power output shaft of the hydraulic motor 9 is connected with a fertilizer discharging shaft 18 of the fertilizing machine through a speed reducer 14; the electro-hydraulic proportional speed regulating valve 8 is used as a control part of the hydraulic motor 9, and a control signal sent by an embedded computer outputs different voltage signals through a closed-loop control amplifier of the electro-hydraulic proportional speed regulating valve 8 to control the opening of the electro-hydraulic proportional speed regulating valve 8 so as to regulate the rotating speed of the hydraulic motor 9, thereby realizing the control of the fertilization amount and achieving the purpose of variable fertilization. The rear end of the hydraulic oil return pipeline is provided with a coarse filter 10.
Referring to fig. 1 and 4, an oil tank 1, a fine filter 2, a constant displacement pump 3 and a hydraulic power source 4 required by the hydraulic mechanism are self-contained in the tractor, that is, the hydraulic power is provided by the tractor without adding additional equipment.
The main control system comprises an embedded computer, a touch screen, a Beidou navigation receiver 11, a speed measuring radar sensor 12, a rotating speed sensor 15, a torque sensor 17 and a signal conditioning circuit; the signal conditioning circuit comprises a signal amplifier and a low-pass filter.
The embedded computer stores a control system main program, and the control system main program comprises a fertilization amount processing module, a measurement display module and an alarm module;
the fertilization amount processing module is used for combining the positioning information and a prescription chart for dividing each plot based on GIS fertilization farmland grids, obtaining fertilization amount data of the current plot, and calculating rotating speed data of the fertilizer discharging shaft 18;
the measurement display module processes the received detection information of each sensor and displays the information through the touch screen;
the alarm module is used for indicating that a transmission mechanism of the speed sensor 15 and the torque sensor 17 has a problem when feedback information exceeds a preset value range, the buzzer is connected, and the alarm lamp is connected to prompt; when information is not matched in the operation process, if the rotating speed sensor 15 is not matched with the fertilization amount information, the main program of the control system is indicated to be in a problem, the main program of the control system calls the alarm module at the moment, and when the Beidou navigation receiver 11 is in abnormal information, the main program of the control system calls the alarm module.
The signal leading-out end of the Beidou navigation receiver 11 is connected with a serial port communication port of an embedded computer, and the Beidou navigation receiver 11 is fixedly installed at the top of a tractor cab so as to be beneficial to stably receiving satellite positioning signals and acquiring effective geographic position signals.
The receiving signal communication cable of the speed measuring radar sensor 12 is connected with the serial port communication port of the embedded computer, and the speed measuring radar sensor 12 is fixedly installed on the side wall of the tractor cab. The speed measuring radar sensor 12 can be a laser, an ultrasonic radar speed measuring sensor and the like which can obtain the travel speed of the tractor
And the signal is input into a closed-loop controller to participate in the regulation of the fertilizing amount.
A signal outgoing line of the rotating speed sensor 15 is connected with a digital input interface of the embedded computer, and the rotating speed sensor 15 is fixedly arranged on the fertilizing shaft; the rotation speed sensor 15 measures the rotation speed feedback signal of the control system and feeds the rotation speed feedback signal back to the embedded computer to form closed-loop control.
The signal outgoing line of the torque sensor 17 is connected with the data bus port of the embedded computer through a signal conditioning circuit, and the torque sensor 17 is fixedly installed on the fertilizer discharging shaft 18 and used for detecting the fertilizer discharging working condition, such as avoiding the occurrence of faults of fertilizer blockage and the like.
The touch screen is fixed on an operation table of a tractor cab and is connected with the embedded computer through a communication cable, so that signals are transmitted mutually.
A control method adopted by an accurate variable fertilization electrohydraulic control device is that before variable fertilization operation, a main program of a control system of an embedded computer is started, the main program of the control system carries out initialization work, each application module is started to execute, the main program detects whether the state of each device is normal or not, the state of each device is displayed through a touch screen, at the moment, an electric control ball valve 7 is in a closed state, and proper system working pressure is obtained by adjusting an overflow valve 5, so that operation preparation work is completed.
When the variable fertilization operation is executed, a work starting key on a touch screen is pressed, a Beidou navigation receiver 11 receives satellite signals in real time, the current plot position information of the fertilizer applicator is obtained through calculation, a fertilization amount processing module establishes a plot nutrient data table as a scientific fertilization basis by utilizing a geographic information system database technology of a GIS, the position information obtained by the fertilization amount processing module at the moment is compared and analyzed with the plot nutrient data table to give a precise fertilization processing diagram, namely the fertilization amount of the current plot is obtained, for example, for a field to be measured (in concrete), the field to be measured is divided into n plots through grids, each plot obtains fertilization amount data according to the measured soil fertility information, therefore, the whole field is divided according to the grids to obtain a fertilization amount data distribution diagram, the plot of the whole field is formed, namely Q n is the nth (n is 1, …, j) the amount of fertilizer applied to the plots in liters. The simultaneous measurement display module measures the travelling speed of the tractor through the speed measuring radar sensor 12 
The main program of the control system combines the data of the fertilization amount of the current plot, and the rotating speed r required by the driving hydraulic motor 9 is calculated by using the formula (1), the formula (2) and the formula (3)m：
In the formula, QnIn order to realize the real-time fertilization amount of the land parcel,
is the travel speed of the tractor, thetanThe unit time of the fertilizer apparatus is the fertilizer amount per minute;
in the formula, L is the fertilizer amount of the variable fertilizer applicator per rotation, and the unit is L/r;
the rotating speed of the fertilizer discharging shaft is r/min;
in the formula, rmThe unit is the rotating speed of the hydraulic motor and r/min; t is the gear ratio of the reducer 14;
the main program of the control system calls the rotating speed information required by the driving hydraulic motor 9, gives out a corresponding control output digital signal, converts the control output digital signal into an analog voltage control signal through an AD/DA conversion device, and controls the output flow of the electro-hydraulic proportional speed regulating valve 8 to control the rotating speed of the hydraulic motor 9, and meanwhile, the rotating speed sensor 15 measures the rotating speed feedback signal of the fertilizer discharging shaft 18 in real time to meet the comparison requirement of the main program of the control system, so that accurate fertilization is realized;
a threshold value is preset for the torque sensor 17 by a main program of the control system, and when the torque sensor 17 reaches the threshold value, the transmission of the fertilizing mechanism is abnormal, and an alarm module gives an early warning.
Claims (3)
1. An accurate variable fertilization electrohydraulic control device is characterized by comprising an electrohydraulic driving mechanism and a main control system; the electro-hydraulic driving mechanism comprises an overflow valve (5), an electro-hydraulic proportional speed regulating valve (8), an electric control ball valve (7) and a hydraulic motor (9); the main control system comprises an embedded computer, a touch screen, an AD/DA conversion device, a Beidou navigation receiver (11), a speed measuring radar sensor (12), a rotating speed sensor (15), a fertilization actuating mechanism torque sensor (17) and a signal conditioning circuit; the signal conditioning circuit comprises a signal amplifier and a low-pass filter; the overflow valve (5) is fixed in a variable fertilization hydraulic element integration device (13) at the front end of a fertilizer applicator frame (20), an oil inlet of the overflow valve is connected with a hydraulic power output interface of a tractor through a quick joint (6) and is connected with one end of an electric control ball valve (7), and an oil outlet of the overflow valve is connected with an oil return tank (1); the other end of the electric control ball valve (7) is connected with an oil inlet of an electro-hydraulic proportional speed regulating valve (8); an oil outlet of the electro-hydraulic proportional speed regulating valve (8) is connected with an oil inlet of a hydraulic motor (9); an oil outlet of the hydraulic motor (9) is connected with the front end of the hydraulic oil return pipeline; the rear end of the hydraulic oil return pipeline is connected with the oil tank (1) through a quick connector; the power output shaft of the hydraulic motor (9) is connected with a fertilizer discharging shaft (18) of the fertilizer applicator through a speed reducer (14); the Beidou navigation receiver (11) is fixed at the top of a tractor cab, and a signal leading-out end of the Beidou navigation receiver is connected with a serial port communication port of the embedded computer; the speed measuring radar sensor (12) is fixed on the side wall of the tractor cab, and a communication cable of the speed measuring radar sensor is connected with a serial port communication port of the embedded computer; the rotating speed sensor (15) is fixed on the fertilizing shaft, and a signal leading-out wire of the rotating speed sensor is connected with a digital input interface of the embedded computer; the rotating speed sensor (15) measures a rotating speed feedback signal of the fertilizing shaft and feeds the rotating speed feedback signal back to the main control embedded computer to form closed-loop control; the torque sensor (17) of the fertilization actuating mechanism is fixed on the fertilization shaft (18), and a signal outgoing line of the fertilization actuating mechanism is connected with a data bus port of the embedded computer through a signal conditioning circuit; the touch screen is fixed on an operation table of a tractor cab and is connected with the embedded computer through a communication cable to realize signal transmission; the input end of an AD converter in the AD/DA conversion device is connected with the output end of the low-pass filter, and the output end of the AD converter is connected with the embedded computer; the input end of a DA converter in the AD/DA conversion device is connected with the embedded computer, and the output end of the DA converter is connected with the signal amplifier; the input end of the low-pass filter is connected with a torque sensor (17) of the fertilization actuating mechanism.
2. The accurate variable fertilization electrohydraulic control device according to claim 1, wherein the embedded computer stores a control system main program, and the control system main program comprises a fertilization usage processing module, a measurement display module and an alarm module; wherein,
the fertilization amount processing module is used for combining the positioning information and a prescription chart for dividing each plot based on GIS fertilization farmland grids, obtaining fertilization amount data of the current plot, and calculating rotating speed data of the fertilizer discharging shaft (18);
the measurement display module processes the received detection information of each sensor and displays the information through the touch screen;
the alarm module is used for indicating that a transmission mechanism of the fertilizer application executing mechanism has a problem when feedback information of the rotating speed sensor (15) and the torque sensor (17) of the fertilizer application executing mechanism exceeds a preset value range, and prompting when a buzzer is connected and an alarm lamp is connected; when information is not matched in the operation process, namely when the rotating speed sensor (15) is not matched with the fertilization amount information, the main program of the control system is indicated to be in a problem, the main program of the control system calls the alarm module at the moment, and when the Beidou navigation receiver (11) is in abnormal information, the main program of the control system calls the alarm module.
3. The accurate variable fertilization electrohydraulic control method is characterized by comprising the following steps:
the method comprises the following steps that firstly, satellite signals are received in real time through a Beidou navigation receiver (11), current plot position information where a fertilizer applicator is located is obtained, and the signals are transmitted to a measurement display module;
step two, a plot nutrient data table established by using a geographic information system database technology of the GIS is used as a scientific fertilization basis, and at the moment, a fertilization amount processing module obtains the position information, performs comparison analysis on the position information and the plot nutrient data table, gives a precise fertilization prescription chart, namely obtains the fertilization amount of the current plot and transmits the information to a measurement display module;
thirdly, the fertilizer application amount processing module measures the travelling speed of the tractor through the speed measuring radar sensor (12) and calculates the rotating speed r required by the driving hydraulic motor (9) according to the formula (1), the formula (2) and the formula (3)m；
In the formula, QnFertilizing and using amount for the real-time plots;
is the travel speed of the tractor; thetanThe unit time of the fertilizer apparatus is the fertilizer amount per minute;
in the formula, L is the fertilizer amount of the variable fertilizer applicator per rotation, and the unit is L/r;
the rotating speed of the fertilizer discharging shaft is r/min;
in the formula, rmThe unit is the rotating speed of the hydraulic motor and r/min; t is the transmission ratio of the reducer (14);
Step four, according to the rotating speed information required by the hydraulic motor (9), a corresponding control output digital signal is given, the control output digital signal is converted into an analog voltage control signal through an AD/DA conversion device, the rotating speed of the hydraulic motor (9) is controlled by controlling the output flow of the electro-hydraulic proportional speed regulating valve (8), and meanwhile, a rotating speed sensor (15) measures a rotating speed feedback signal of the fertilizer discharging shaft (18) in real time to meet the comparison requirement of a main program of a control system, so that accurate fertilization is realized;
and fifthly, presetting a threshold value for the torque sensor (17) of the fertilization actuating mechanism by a main program of the control system, and when the torque sensor (17) of the fertilization actuating mechanism reaches the threshold value, indicating that the transmission of the fertilization mechanism is abnormal, early warning by a warning module, and switching on a buzzer and a warning lamp in the warning module.
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