钢辊式圆捆机喂料口开度自动控制技术研究

发布时间：2018-06-13 14:12

本文选题：圆草捆打捆机 + 喂料装置　；参考：《江苏大学》2017年硕士论文

【摘要】：喂料装置是钢棍式圆捆机的关键部件之一,主要作用是将捡拾器捡拾的秸秆或牧草等物料强制抛入成捆室,其喂入性能的优劣直接影响到圆捆机工作效率和草捆密度,在喂入量突变或大喂入量情况下喂料装置容易堵塞。因此,研究圆捆机喂料口开度自动控制技术,主动控制喂料口开度以防止喂料刀辊堵塞,对提高圆捆机的工作效率和可靠性有着重要的理论研究意义和实用价值。本文以9YGQ-1300圆捆机为研究对象,在分析喂料装置动力学特性和疲劳强度的基础上,设计了喂料口开度自动控制系统,主要研究工作包括:1、喂料过程动力学特性与疲劳强度分析:分析了圆捆机喂料装置结构及工作过程,基于EDEM软件对圆捆机的喂料过程进行动力学分析,得到喂入量、喂料口开度、物料剪切模量与长度对下颚板支撑油缸活塞杆受力和喂料刀辊扭矩的影响,分析了油缸活塞杆受力和喂料刀辊扭矩之间的关系。将EDEM仿真获得的刀辊扭矩和下颚板受力作为载荷,基于ANSYS软件对喂料装置进行疲劳强度分析,得到保证喂料装置安全的油缸活塞杆受力许用范围,为确定支撑油缸活塞杆受力的控制范围提供依据。2、喂料口开度液压系统设计与监测数据采集:分析了圆捆机喂料口开度被动调节的下颚板支撑油路,并对其进行改造;选型安装了下颚板支撑油缸位移、油压和刀辊转速传感器,设计了以STM32单片机为核心的硬件电路,编写了油缸位移、油压和刀辊转速采集程序。经测试该系统能控制下颚板支撑油缸动作,表明油路改造达到了控制的要求,并能连续采集数据,可为喂料口开度自动调节提供监测信号。3、喂料口开度自动调节的模糊控制器设计:结合试验和喂料动力学仿真结果,以下颚板支撑油缸活塞杆的受力及其变化率作为模糊控制器的输入量,以活塞杆位置为输出量,将输入量划分为7个模糊等级,输出量划分为5个模糊等级,根据实际工况特点制定模糊控制规则表。设计的模糊控制器,可根据输入量得到不同等级的模糊输出量,依据该输出量对应的油缸位置,通过电磁换向阀通断使油缸的活塞杆移动到相应位置,能够实现喂料口开度大小的自动调节。4、喂料装置负载特性测试与喂料口开度自动控制试验:在空载工况下对喂料装置负载特性进行测试与分析,获得了油缸位移和油压随喂入量的变化情况,发现原喂料装置存在发生堵塞的隐患。通过场地捡拾试验进行验证,结果表明设计的模糊控制器能随喂入量变化主动控制油缸伸缩,未发生喂料堵塞故障,喂料口自动控制系统达到了预期要求。
[Abstract]:The feeding device is one of the key parts of the steel bar round baler. The main function of the device is to force the materials such as straw or forage picked up by the picker into the bundle room. The feeding performance directly affects the working efficiency and the density of the binder. In the case of sudden or large feeding rate, the feeding device is easily blocked. Therefore, it is of great theoretical significance and practical value to study the automatic control technology of feed opening of round baler and actively control feed opening to prevent the clogging of feed cutter roll in order to improve the working efficiency and reliability of circular baler. This paper takes 9YGQ-1300 round baler as the research object, on the basis of analyzing the dynamic characteristics and fatigue strength of feeding device, the automatic control system of feed opening degree is designed. The main research work includes: 1, dynamic characteristics of feeding process and fatigue strength analysis: the structure and working process of feeding device of circular baler are analyzed, and the feeding process of circular baler is analyzed based on EDEM software, and the feed quantity is obtained. The influence of feed opening, shearing modulus and length of material on the force of piston rod of jaw plate supporting cylinder and the torque of feed cutter roll are analyzed. The relationship between piston rod force and feed tool roll torque is analyzed. Taking the torque of the cutter roller and the force on the jaw plate obtained by EDEM simulation as the load, the fatigue strength of the feeding device is analyzed based on ANSYS software, and the allowable range of the piston rod force on the cylinder to ensure the safety of the feeding device is obtained. In order to provide the basis for determining the control range of bearing force on piston rod of supporting cylinder, the hydraulic system of feed opening and monitoring data acquisition are designed: the supporting oil circuit of jaw plate which is passively adjusted for feed opening of round baler is analyzed and reformed; The displacement of oil cylinder, the oil pressure and the speed of cutter roll are selected and installed. The hardware circuit based on STM32 single chip computer is designed, and the acquisition program of displacement of oil cylinder, oil pressure and rotational speed of cutter roller is compiled. After testing, the system can control the movement of the jawboard supporting cylinder, which shows that the oil circuit reconstruction meets the control requirements, and the data can be collected continuously. It can provide monitoring signal .3for automatic adjustment of feed opening, design of fuzzy controller for automatic adjustment of feed opening: combined with test and feed dynamics simulation results, Taking the force and change rate of the piston rod supported by the jaw plate as the input quantity of the fuzzy controller, taking the piston rod position as the output quantity, the input quantity is divided into 7 fuzzy grades and the output quantity is divided into five fuzzy grades. The fuzzy control rule table is established according to the characteristics of actual working conditions. The designed fuzzy controller can get the fuzzy output of different grades according to the input quantity. According to the position of the cylinder corresponding to the output quantity, the piston rod of the cylinder can be moved to the corresponding position through the opening of the electromagnetic directional valve. It can realize the automatic adjustment of feed opening. 4. The load characteristic test of feeding device and the automatic control test of feed opening. The load characteristic of feeding device is tested and analyzed under the condition of no-load. The variation of cylinder displacement and oil pressure with the feed rate was obtained, and the hidden trouble of clogging was found in the original feeding device. The results show that the fuzzy controller can actively control the expansion and expansion of the cylinder with the change of the feed rate, and no feeding blockage occurs, and the automatic control system of the feed port meets the expected requirements.
【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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