Design And Experiment Of Basecutter Intelligent System For 4GDL-132 Billet Harvester

Sugarcane was one of important economic crops in Southern China and the main source of sugar industry.China had the third largest sugarcane cultivation area in the world,the yield of sucrose accounted for 6.28% of the main sugar producing countries.The mechanization technology of sugarcane production especially the mechanized harvesting technology was relatively backward in China.The mechanized harvesting rate was less than 1%,which results in low sugarcane production efficiency and high cost.In the Southern China hilly area,the topography was varied and in the mechanical harvesting it was easy to cause sugarcane stubble with different height and stubble damages.Mechanical harvesting operation needed to adjust to the height of the Basecutter manually which reduce the efficiency of mechanical harvesting.Besides,for harvester driver it was difficult to observe the position of the Basecutter inside driving cab a nd the adjustment was also very difficult.The above situation led to the current sugarcane harvesters in the southern hilly region only harvesting sugarcane without stubble left.To the issues of sugarcane stubble different height and stubble damages during the sugarcane harvesting caused by topography variation and fluctuation because of the Basecutter couldn't go into the soil deep enough.So a Basecutter height control system based on AT89S52 MC Uwas designed.The system included the hydraulic actuator part and the electronic control part.The main components of hydraulic actuator were hydraulic cylinder and electro-hydraulic direction valve.Two of hydraulic cylinders were responsible for lifting and descending of Basecutter.The electro-hydraulic direction valve was responsible for the operation of the hydraulic cylinder and the direction and duration,electro-hydraulic direction valve controlled by the electronic control part.AT89S52MCUwas the core for the electronic control part which controlled 4 major components to carry on the data measurement and computation processing,outputs the control signal in the end and realized the Basecutter height control.The 4 major components were:(1)Ultrasonic distance measurement.The ultrasonic distance measurement part used the ultrasonic ranging radar to measure height distance between Basecutter and topographical change situation at position of front of Basecutter,and dealt with filter processing inside the MCU for measurement value.(2)Encoder speed measurement.The encoder speed measurement part used the encoder to measure the rotation angle of the crawler-driven sprocket and converted it to the walking speed,which was used to determine whether the height of Basecutter adjustment control was required.(3)Electro-hydraulic direction valve control part.It could judge height distance between Basecutter and topographical change situation at the position of front of Basecutter.If it needed to adjust Basecutter height,MC U could output control signal to adjust the height through the relay control electro-hydraulic directional valve,trajectory curve of Basecutter could change with the terrain.(4)Interactive interface section.The interactive interface included 1602-LCD screen,toggle switch and touch switch button.The interactive interface was used for Basecutter height control system to select working state,set parameters,and feedback to users through 1602-LCD display.To verify the performance of thissystem,a prototype test was carried out on the 4GDL-132 sugarcane harvester,andthe test results showed that:withallowable fluctuationrange of ±2cm,a total of nine groups of experimentwas carried out under different ridge ground conditions and different set heightbetween Basecutter tip and terrain of 2 factors and 3 levels,The average of absolute value deviations between the distance of Basecutter tip to terrain and the distance of set distance was1.020 cm maximum,and the standard error was 0.058 cm.The terrain distance fluctuation and the Basecutter tip set value made no significant effect on the difference between height of Basecutter tipto terrain and the set height.The prototype experiment proved that the floating control system couldachieve the height control of the Basecutter,and the curve of the Basecutter was consistent with the trajectory curve of the ground.