悬挂式电动柔性疏花机控制系统设计与试验

为提高机械柔性疏花机对果树品种、树冠形状和大小的自适应性,设计了一种悬挂式电动柔性疏花机。基于仿形疏花的工作要求,确定了仿形参数关联式;采用超声波冠形探测方法,开发了嵌入式仿形疏花控制系统。田间试验测得仿形疏花执行机构的位置伺服控制误差较小,平移丝杠在位移目标值4.7～36 cm内的平均误差为0.17 cm,最大误差为0.9 cm;仿形丝杠在位移目标值5.7～15.3 cm内的平均误差为0.07 cm,最大误差为0.4 cm。结果表明所设计的仿形控制系统能满足疏花机平面位置伺服控制的精度要求。该研究可为果园疏花机械的结构设计和运行控制提供参考。...

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Bibliographic Details
Published in农业工程学报 Vol. 32; no. 18; pp. 61 - 66
Main Author 李君 徐岩 许绩彤 杨洲 陆华忠
Format Journal Article
LanguageChinese
Published 华南农业大学工程学院，广州 510642 2016
南方农业机械与装备关键技术教育部重点实验室，广州 510642%华南农业大学工程学院,广州,510642
Subjects
控制
机械化
柔性疏花机
设计
误差
超声波测距
机械化
超声波测距
设计
控制
flexible thinner
design
柔性疏花机
control
ultrasonic range measurement
mechanization
error
误差
Online AccessGet full text
ISSN1002-6819
DOI10.11975/j.issn.1002-6819.2016.18.008

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Summary:为提高机械柔性疏花机对果树品种、树冠形状和大小的自适应性,设计了一种悬挂式电动柔性疏花机。基于仿形疏花的工作要求,确定了仿形参数关联式;采用超声波冠形探测方法,开发了嵌入式仿形疏花控制系统。田间试验测得仿形疏花执行机构的位置伺服控制误差较小,平移丝杠在位移目标值4.7～36 cm内的平均误差为0.17 cm,最大误差为0.9 cm;仿形丝杠在位移目标值5.7～15.3 cm内的平均误差为0.07 cm,最大误差为0.4 cm。结果表明所设计的仿形控制系统能满足疏花机平面位置伺服控制的精度要求。该研究可为果园疏花机械的结构设计和运行控制提供参考。
Bibliography:11-2047/S
mechanization; design; control; flexible thinner; ultrasonic range measurement; error
Li Jun1,2, Xu Yan1, Xu Jitong1, Yang Zhou1,2, Lu Huazhong1,2 （ 1. College of Engineering, South China Agricultural University, Guangzhou 510642, China; 2. Key Laboratory of Key Technology on Agricultural Machine and Equipment, Ministry of Education, Guangzhou 510642, China）
Thinning is required in fruit tree production to ensure high quality fruit and proper fruit size, which is one of the most labor-intensive practices. Mechanical blossom thinning is an environmental friendly alternative to chemical blossom thinning. Good tree training techniques are required to get high-level blossom removal for mechanical thinning. Electric flexible thinner can realize blossom thinning by rotating flexible strings. There is a challenge in mechanical thinning due to the varying shape of tree canopy. To improve the adaptability of the electric flexible thinner on fruit tree variety, canopy shape and size, it is important to develop a
ISSN:1002-6819
DOI:10.11975/j.issn.1002-6819.2016.18.008