Leveling Strategy Research On The Rotary Tillage Equipment Based On Title Sensor

Farmland fine plowing technology is an important content in the research of precision agriculture to realize the automation and mechanization of agriculture. More over, it is a significant measure in modern agricultural production. Due to the small field and complicated topography in southern China, the traditional tillage soil preparation job quality is generally low. In order to improve the tractor rotary cultivator when working in the field of the plow land preparation quality and smooth implementation tillage soil deep consistency, this paper presents a hydraulic lever mechanism based on the angle sensor adopted at the center of the fixed leveling strategy of rotary cultivator automatic leveling. This paper uses NongFu Xiao Ji Ling 1GDZ-150 crawler self-propelled rotary cultivator as the research platform and makes detailed analysis and research of the rotary cultivator leveling scheme, hydraulic double cylinder synchronization method, the compound digital filter algorithm of angle sensor, leveling control system hardware and software design and the rotary cultivator leveling of the field operation test,the main contents are as follows:1. Analyses the characteristics of farm tractors machine hanging and rotary cultivator when working with oblique way and presents an automatic leveling strategy.based on the angle sensor for real-time detection of a rotary cultivator signal and adopting lever with double oil cylinders mechanism of crawler tractor rotary cultivator2. To achieve the lever of machine center fixed leveling strategy, the actuator based on the distribution collector valve actuator of hydraulic pressure double oil cylinder synchronization loop. In order to guarantee the synchronization performance of double oil cylinder, in this paper, the shunt collector in the synchronous circuit valve distribution condition and collecting conditions are analyzed. This paper are combined AMEsim hydraulic simulation with the tractor bring the related parameters of the type of the hydraulic system, to ensure the reliability of this synchronization scheme.3.For getting the real-time signal when rotary cultivator works in the field, this paper uses tile sensor to measure and obtain the tile angle of cultivator. When driving in uneven fields, rotary tiller apparatus produces strong vibration. In order to improve the accuracy of acquisition's data of angle sensor, this paper adopts Compound digital filter algorithm to filter and denoise the original angle data collected in static conditions and then in dynamic conditions with different angle and different speed of equipment. Experiments show that after using methods of combing limit range filter, middle value filter and average value filter with and Savitzky-Golay filtering the angle sensor can suppress the interference effectively and improve the detection accuracy.4. Based on rotary cultivator hydraulic system, research on the hydraulic synchronous double oil cylinder as the object, carries on the mathematical modeling and each part of the mathematical function formula is deduced. Leveling control system using adaptive fuzzy PID control algorithm to achieve the dynamic adjustment of rotary cultivator, leveling control system simulation analysis using MATLAB/Simulink software. The results show that:the use of adaptive fuzzy PID control algorithm, which can improve the control precision, leveling system to shorten the leveling time, improve the system response and stability.5. According to the Standards of China's agricultural machinery selection specification and Rotary cultivator test method, we did field experiment and analysis the results in these three indexes of tilling depth, soil roughness after tillage, broken rate of soil on the rotary cultivator which leveling strategy designed in this paper is used.the results of the experiment show that the equipment we designed has a good effect on rototilling-tillage, complete the leveling operation well and meet the requirements of agriculture.