Research And Development Of Electric Control System Of Intelligent Hybrid Mower In Hilly Mountainous Area

With the growing popularity of raw grass cultivation,timely mechanical mowing has become an indispensable task in the management of agricultural production such as orchards.However,agricultural production management in China’s hilly mountain orchards from 15° to 25° still faces the problems of poor adaptability of existing mowers to terrain and agronomic requirements,and low degree of automation and intelligence.Therefore,in this paper,based on embedded control technology,the research on the software and hardware design of the electronic control system and the control method was carried out on the hilly mountain intelligent hybrid mower designed by the subject group independently,the main research contents are as follows:(1)Electric control system scheme design and hardware implementation.By analyzing the operating environment,design requirements,structure and working principle of the intelligent hybrid mower,the control requirements of the electronic control system were determined and the overall electronic control scheme was designed.According to the designed electronic control scheme,the hardware of the whole machine electronic control system is designed and realized,mainly including the selection and calculation of key electronic control components of the power subsystem,the controller design of the control subsystem,the selection of sensing module and the electrical control design of the auxiliary subsystem.(2)Research and design of the control method of electronic control system.Based on the design requirements of the whole machine,the structure and working principle and the designed hardware,by building a kinematic model of the intelligent hybrid mower,a simulation model of the movement of the cutter height adjustment mechanism and a model of the movement of the cutter,the parameters of the travel drive control,the cutter height control and the cutter speed control are analysed.Taking the analysed travel drive control parameters and combining them with the motion control requirements of the mower in a complex environment,Design of a speed controller based on an error amplification factor based on a conventional PID;Control parameters for cutter speed based on analysis,the cutter height control method is designed and the control strategy of dual-side actuator master-slave synchronization is proposed for the problem of poor synchronization of electric linear actuator in practical application;Control parameters for cutter speed based on analysis,the closed-loop feedback form of cutter speed control strategy is proposed.This control strategy achieves the reasonable matching between the forward speed of the mower and the mower speed、adaptive adjustment of cutter speed and cutter height when the cutter is subjected to a change in load.The software program of the electronic control system has been developed in conjunction with the designed hardware,and the control method of the designed electronic control system has been implemented at the software level.(3)Commissioning of the electronic control system and carrying out verification tests.With the designed hardware and software system,the hardware construction and software debugging of the electronic control system were carried out,and tests were conducted to verify the actual effect of the designed electronic control system.The results of walking drive control test show that the designed travel drive control method ensures that the drive motors on the left and right side of the mower reach the target speed in real time,with good travel stability and steering performance,and its speed error does not exceed 0.05m/s when walking under different PWM duty ratios,and the straight line deviation rate is not more than 4.4%;The cutter height control test shows that the designed cutter height control method can meet the electric control requirements of the mower with quantitative adjustable cutter height,smooth lift and good synchronization,and the maximum synchronization error of the double side electric linear actuator is about 1.6mm.The test results of cutter speed control show that the cutter speed is well adjusted and the cutter can automatically match the speed according to the different forward speed of the mower,and the maximum error is about 5r/min,and the adaptive adjustment of cutter speed and cutter height can be realized according to the change of load.