圆捆机草捆密度实时监测系统设计与试验

发布时间：2017-12-27 12:13

本文关键词：圆捆机草捆密度实时监测系统设计与试验　出处：《江苏大学》2017年硕士论文　论文类型：学位论文

【摘要】：草捆密度是衡量打捆机作业质量的主要性能指标之一,草捆密度的实时监测可获取作业区域的草捆重量及其变化情况以及作业区域内的总草量,对于稳定控制草捆密度具有重要的研究意义。本文针对圆捆机草捆密度的监测问题,设计了一套圆捆机草捆密度实时监测系统,主要工作包括以下内容:(1)提出基于压力检测和姿态角的草捆动态称重方法:分析草捆成型过程,设计草捆动态称重承载台。基于卸捆过程中承载台的受力分析建立草捆动态称重数学模型,基于ADAMS进行草捆卸捆过程动力学仿真,分析卸捆过程中草捆和承载台的运动过程和承载台数据采集台面压力、加速度和姿态角变化,对压力曲线进行分析和滤波处理,验证了草捆动态称重模型的正确性,为草捆密度监测系统设计提供理论依据。(2)确定圆捆机草捆密度实时监测系统总体方案:基于草捆动态称重数学模型和系统功能、技术要求分析,确定由草捆动态称重承载台、信号采集模块、处理器、串口通信模块、存储模块、LCD显示模块和电源模块组成的监测系统总体方案。以承载台固定架长度、数据采集台面宽度、数据采集台面尾端至承载台末端距离为试验因素,以称重信号的平稳性为试验指标,进行承载台方案优选试验,试验结果将固定架长度L=1.2 m,数据采集台面宽度B=0.6 m,数据采集台面尾端至承载台末端距离D=0.1 m作为承载台的最终优选安装方案。(3)圆捆机草捆密度实时监测系统设计:完成传感器与处理器的选型和监测系统的硬件电路设计,并在此基础上完成监测系统的软件设计。通过模拟草捆在数据采集台面上的滚动过程,对模拟滚动过程中的称重信号进行分析,得出草捆动态称重过程中的称重信号集中在5Hz以下频段。基于MATLAB完成了FIR低通滤波器的设计,实现了其在STM32中的应用。草捆动态称重原始信号滤波前后对比表明,该滤波器对草捆动态称重信号有较好的滤波效果。(4)圆捆机草捆密度实时监测系统测试与试验:完成监测系统的测试工作,检验系统能否正常运行。进行了圆捆机草捆称重系统的静态标定试验以及草捆动态称重模型的标定试验,得到了称重系统的静态标定方程以及草捆动态称重模型的标定方程。分别对重量为280.1 kg和405.3 kg的草捆进行草捆动态称重模型的验证试验,试验结果表明草捆动态称重系统的最大误差为-3.4047%,系统的检测精度小于5%,符合精度要求,对圆捆机作业时背包油缸有杆腔油压的变化情况进行了观察和分析。
[Abstract]:Baling density is one of the main performance indicators to measure the operation quality of bundles. The real-time monitoring of Baling density can get the weight and change of the bales and the total amount of grass in the operation area, which is of great significance for the stable control of Baling density. Aiming at the problem of monitoring round baler bale density, designed a real-time round baler bale density monitoring system, the main work is as follows: (1) proposed a dynamic weighing method for bale pressure detection and attitude angle based on the analysis of the bale forming process, the design of dynamic weighing bale bearing platform. In the process of unloading stress bundle bearing platform based on analysis of the establishment of dynamic mathematical model of bale weighing, ADAMS bale discharging process based on the analysis of dynamics simulation of bundle, bundle in the process of unloading bales and bearing the motion process and bearing platform data acquisition table pressure, acceleration and attitude angle change, analysis and filtering of the the pressure curve, verify the correctness of the bale dynamic weighing model, provide a theoretical basis for design of bale density monitoring system. (2) determine the overall plan for bale density real-time monitoring system: a round bale bale weighing function, mathematical model and system requirements analysis based on the determined by the bale weighing bearing platform, the signal acquisition module, processor, serial communication module, memory module, LCD display monitoring system scheme module and a power module the. The bearing platform fixed frame length, data acquisition, data acquisition at the end of mesa mesa width to Taiwan at the end bearing distance as experiment factors, in order to smooth the weighing signal to test for bearing platform optimization test, test results of fixed frame length L=1.2 m, width B=0.6 m table data collection, data collection table to the end at the end of bearing platform distance D=0.1 m as the ultimate bearing platform installation scheme optimization. (3) the real-time monitoring system for baling density of round baling machine: Design of sensor and processor selection and monitoring system hardware circuit design, and on this basis, the software design of monitoring system is completed. By simulating the rolling process of bales on the data acquisition platform, we analyzed the weighing signals in the simulated rolling process, and got that the weighing signal in the baling dynamic weighing process was concentrated below the frequency band below 5Hz. The design of FIR low pass filter is completed based on MATLAB, and its application in STM32 is realized. The comparison of the original signal filtering before and after the dynamic weighing of the bales shows that the filter has a better filtering effect on the dynamic weighing signal of the bales. (4) test and test on the real-time monitoring system of the baling density of the baling machine: complete the testing of the monitoring system and test the normal operation of the system. The static calibration test of Baling weighing system of baler and the calibration test of Baling dynamic weighing model were carried out. The static calibration equation of the weighing system and the calibration equation of the baling dynamic weighing model were obtained. On weight of 280.1 kg and 405.3 kg bale bale weighing test model, test results show that the maximum error of bale dynamic weighing system is -3.4047%, the detection accuracy of the system is less than 5%, the accuracy meets the requirement, change of round baler working cylinder rod chamber pressure pack of observation and analysis.
【学位授予单位】：江苏大学
【学位级别】：硕士
【学位授予年份】：2017
【分类号】：S225

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