CAJ | 학술논문

为推动中国玉米制种去雄机械化的进程，针对中国农业大学协助研制的去雄机，该文设计了一套包括主控板、显示屏和控制面板的去雄作业控制系统。系统可通过按钮操作实现去雄机构高度的手动调整，也可通过玉米穗高度信息的采集，控制算法的推导实现去雄机构高度的自动调整。系统控制参数由去雄机构的运动分析、车辆的作业车速和液压系统特性获得，并通过显示屏进行设置和显示。田间试验结果表明：去雄机安装本系统进行去雄作业，去雄效率是人工的18倍，去雄率达到96.16%，且去雄误差小于5%，满足去雄作业要求。该系统的设计为玉米去雄机的研制提供参考。
위추동중국옥미제충거웅궤계화적진정，침대중국농업대학협조연제적거웅궤，해문설계료일투포괄주공판、현시병화공제면판적거웅작업공제계통。계통가통과안뉴조작실현거웅궤구고도적수동조정，야가통과옥미수고도신식적채집，공제산법적추도실현거웅궤구고도적자동조정。계통공제삼수유거웅궤구적운동분석、차량적작업차속화액압계통특성획득，병통과현시병진행설치화현시。전간시험결과표명：거웅궤안장본계통진행거웅작업，거웅효솔시인공적18배，거웅솔체도96.16%，차거웅오차소우5%，만족거웅작업요구。해계통적설계위옥미거웅궤적연제제공삼고。
Emasculation is closely associated with corn seed production, which directly affects the quality of corn seed. Mechanical emasculation with high efficiency and quality is taking the place of artificial emasculation, which is of low efficiency and poor quality. In China, mechanical emasculation is far behind developed countries, and the emasculation control system is just at the beginning stage, which restricts the development of the emasculation machines. In view of the above problems, this paper designed a set of emasculation control system, which completed adjustment of emasculation mechanism through the parallel four connecting rods driven by cylinder. In order to ensure the accuracy of the parameters, movement of four parallel connecting rods were analyzed. The hardware of the system mainly comprised a display screen, a control board and a control panel. The control board used ATmega128 chip as the control chip, used the 42GRU-9200TTL models (NPN type) photoelectric sensor to collect corn ear height, used MAX4372T chip to collect drive voltage and current, used Power MOSFET IRF4905 to drive proportional valve and used MAX232 chip to complete serial communication. The screen was used to display and set the system parameters. The control panel was used to complete the switch between manual mode and automatic mode and control the height of emasculation mechanism manually by button operation in the manual mode. In automatic mode, the system got the height of ear of corn by photoelectric sensors. The system’s control algorithm was that repeatedly reading all the photoelectric sensor signals at a certain time interval, and then storing the number of occluded of up and down photoelectric sensor for the x set of data, and then making the lifting decision of emasculation mechanism according to the first set of data stored previously, and rising the emasculation mechanism only when continuous Z times lifting decision results is rising. Cylinder’s movement speed was determined by the opening of proportional valve, and the PWM duty which is directly proportional to proportional electromagnet finally decides the velocity of cylinder. The system controlled the velocity of cylinder by exporting a certain duty PWM signal to control the opening of proportional valve. The system controlled the movement time of cylinder by outputting PWM signal or not, to control the closing and opening of proportional valve. The final purpose of the system is to control the movement of the emasculation mechanism. After analyzing the movement of four parallel connecting rods, combined with the vehicle operation speed and the characteristics of the hydraulic system, the parameters of the system can be obtained by calculating, and were displayed on screen. Through field tests, we found that when the emasculation machine with the emasculation control system designed in this paper rose, the motion time, displacement and maximum speed of cylinder was 150 ms, 0.007 m, and 0.1 m/s, respectively. When the emasculation mechanism went down, the motion time, displacement and maximum speed of cylinder was 180 ms, 0.007 m, and 0.15 m/s, respectively. The testing results showed that the actual movement of the hydraulic cylinder can meet the design requirements and the parameters were reasonably set, and the efficiency and accuracy can meet the castration emasculation operation requirements.