Research On Tillage Depth Estimation Model Based On Tractor Working Parameters

Subsoiling has been widely used because it has function of breaking the plough soil,thickening layer of dirt,improving the ability of keeping water and the moisture in the soil.subsoling also has the ability of drought and flood control.Tillage depth served as a basis of subsoiling and a key parameter to the researcher,the tillage depth has been more and valued these days.For that,this research based on the subsoiling platform of a company,this research mainly taking the force analysis of the tractor and subsoiler as the breakthrough point.Explored the relationship between engines operating conditions and the subsoiling parameters.Finally a tillage depth estimation model has been established in this paper.This model can serve as an important accordance to subsoiling.First,a single column carved subsoiler has been applied in this research.It is based on a certain type of tractor with higher horse power,the max output power of the engine is 151 kW.An ultrasonic position sensor has also been installed on the rearhitch and a data acquisition system based on CAN bus has been used to acquire the data,and then integrated all of them on the tractor,and all of this device formed the subsoiling research platform.Second,based on the knowledge of soil dynamics and the tractor traction dynamics,this research has analyzed the force condition of the shovel and the shovel hand in detail,especial the horizontal force of the subsoiler.And then analyzed the relationship between the shovel's horizontal force and woking speed as well as the tillage depth.Taking tractor and subsoiler as the whole object,established the force model of this object.Then deduce the subsoiling parameter,especially the tillage depth,has a strong relationship to the engine's power,and the relationship between tillage depth and engine power shows as polynomial,and the highest index of the polynomial is 3.And then established the tillage depth estimation model based on this polynomial relationship.Finally,Based on the subsoiling research platform of data acquisition system,obtained the tractor subsoiling operation parameters,and then divide these data into two set of data.Using one of them to identify the constant parameters in tillage depth estimation model with the least squares method.and using another set of data to verify the model.the verification results show that the error of this model is within 10%,when the tillage depth surpass 0.4m,That means this model can be used as the tillage depth estimation.