Reaserch On Bodas Based Leafy Harvester Control System

As the attention paid to agricultural mechanized production increases in China,the investment in R&D of agricultural machinery,especially crop production and harvesting machinery has been increasing.Particularly,there is a lot of progress and achievement in the aspect of large combine harvester for field crops.However,in terms of the mechanized realization of vegetables harvesting,due to the variety of vegetables and edible parts,which makes the requirements for the driving and operating forms of harvesting machine higher,there is not much research in China.The level of automation is low and the key technical problems about the full hydraulic travel driving and profiling operation involved in vegetable,especially leaf harvesting machine need to be further studied and solved urgently.Therefore,the control system of the harvester for leafy vegetables is studied in this paper,and the key points are the system characteristics and the corresponding control strategies of the full hydraulic travel driving control and the header profiling operation control system.The main research contents are as follows:Firstly,the operational characteristics and functional requirements of the leaf harvester are analyzed concretely,and the subsystems are checked in detail on the basis of the design schematic diagram of the hydraulic system and the index parameters of the system.Secondly,the hardware design development and software programming of the control system of the leaf harvester is conducted based on the BODAS controller.The on-line monitoring subsystem of harvester walking and operating status parameters are developed based on the CAN bus.Then,the hydraulic travel driving system of the leaf harvester is analyzed and modeled,the dynamic analysis of the header profiling operation system is carried out,and the simulation model and transfer function are obtained respectively.Then the system model is simulated with MATLAB/SIMULINK and the system control strategy proposed is verified.Finally,the walking and height automatic control experiments of the harvester prototype are carried out.The results show that the incremental PID control and the fuzzy control strategy have good effect on the walking control and the ground profiling control.The simulation analysis and experimental results show that the control system of the leafy harvester can control the harvester smoothly and perform the ground profiling operation.The related research results have been applied to develope the prototype,and the actual operation test shows that the implementation of the system is effective and can meet the design requirements.