CAJ | 학술논문

为了使农机具在田间作业时保持水平，该文设计了一种农机具自动调平控制系统。采用拖拉机横向倾角卡尔曼滤波算法融合加速度计和陀螺仪2个传感器数据获得拖拉机实时倾斜角度，直线位移传感器测量调平液压油缸伸长量并建立农机具和拖拉机的相对倾斜角度转换函数，通过控制电磁换向阀实现农机具水平控制。在三轴多功能转台上对拖拉机倾角实时测量算法进行了测试，并在田间对农机具自动调平系统进行了试验，结果表明，拖拉机横滚角传感系统能在动态条件下准确地测量拖拉机实时倾角，在转台上测量角度平均绝对误差≤0.15°，均方根误差≤0.18°，在水田激光平地机作业时测量角度平均绝对误差0.40°；自动调平控制系统能较好地实现平地铲调平控制，平地铲倾斜角度平均绝对误差0.52°，均方根误差0.24°，最大误差1.15°，相对于原水田激光平地机水平控制系统控制精度提高了0.5°。该研究为农机具水平自动调平提供了方法，能够提升农机具作业质量。
위료사농궤구재전간작업시보지수평，해문설계료일충농궤구자동조평공제계통。채용타랍궤횡향경각잡이만려파산법융합가속도계화타라의2개전감기수거획득타랍궤실시경사각도，직선위이전감기측량조평액압유항신장량병건립농궤구화타랍궤적상대경사각도전환함수，통과공제전자환향벌실현농궤구수평공제。재삼축다공능전태상대타랍궤경각실시측량산법진행료측시，병재전간대농궤구자동조평계통진행료시험，결과표명，타랍궤횡곤각전감계통능재동태조건하준학지측량타랍궤실시경각，재전태상측량각도평균절대오차≤0.15°，균방근오차≤0.18°，재수전격광평지궤작업시측량각도평균절대오차0.40°；자동조평공제계통능교호지실현평지산조평공제，평지산경사각도평균절대오차0.52°，균방근오차0.24°，최대오차1.15°，상대우원수전격광평지궤수평공제계통공제정도제고료0.5°。해연구위농궤구수평자동조평제공료방법，능구제승농궤구작업질량。
To ensure agricultural implement level can improve the quality of work in agricultural machinery operation process. In order to maintain the level of agricultural implements in the field working, an agricultural implement auto leveling control system was developed. Real-time roll angle of tractor was obtained from tractor roll angle sensing system. The core algorithm of tractor roll angle sensing system was the Kalman filtering algorithm of tractor roll angle, which fused an accelerometer and gyroscope data to obtain the real-time roll angle of tractor. The leveling hydraulic cylinder elongation was measured using a straight-line displacement sensor. And the relative roll angle conversion function between agricultural implements and tractor was established. Then by controlling the electromagnetic directional valve, the agricultural implement was kept leveling. This article introduced the principle and structure of agricultural implement auto leveling control system, and the Kalman filtering algorithm of tractor roll angle and the relative roll angle conversion function were analyzed in detail. The tractor roll angle’s Kalman fusion algorithm was tested in SGT320E three-axis turntable platform, and the experiment of agricultural implement auto leveling control system was carried out in the paddy field based on a matching 1PJ-3.0 laser leveler for paddy field. The leveler featured a specially designed leveling plow connected to an ISEKI PG6 transplanter by means of a hydraulically driven three-point linkage. The auto leveling controller used the Proportional-Derivative (PD) control algorithm to calculate pulse width, modulating for driving two ordinary hydraulic solenoid valves as actuators to regulate the plow’s leveling. In order to evaluate the precision of tractor roll angle sensing system and auto leveling control system, 2 inertial reference systems (MTi-300) were installed in the transplanter and plow, respectively. Results showed that, the tractor roll angle sensing system could accurately measure the real-time tractor roll angle;the mean absolute error, the root mean square error and the maximum error were less than or equal to 0.15°, 0.18° and 0.33° respectively in SGT320E three-axis turntable platform;and during the working process in a paddy field, the mean absolute error, the root mean square error and the maximum error were less than or equal to 0.40°, 0.46° and 1.27°, respectively. The agricultural implement auto leveling control system could better realize the scraper’s leveling control of laser leveler. The mean absolute error, the mean square error and the maximum error of the scraper’s tilt angle were 0.52°, 0.24° and 1.15°, respectively, and in more than 80%of the time, the scraper’s tilt angle of laser leveler was less than 0.5°, which was improved by 0.5° compared with the control precision of original leveling control system of laser-controlled land leveler for paddy field. The study provides a method for auto leveling controlling of agricultural implement, which can improve the work quality of agricultural machinery.