Authors

Abstract

Aiming at the problem of uneven stubble height caused by large topographic relief and scattered plots of buckwheat fields in Hilly and mountainous areas, taking 4SZ-1.5 buckwheat windrower as the research object, an omni-directional header profiling strategy based on fuzzy control was proposed. By constructing the cooperative control system of the rotary lateral profiling mechanism (rotary hydraulic cylinder) and the lifting longitudinal profiling mechanism (lifting hydraulic cylinder), combined with the sliding plate angular displacement sensor, the real-time road elevation information is obtained. The random road excitation is generated by the filtered white noise time-domain model, and the Mamdani type fuzzy controller is established. The hydraulic cylinder expansion and contraction command is output with the left and right angle deviation as the input. Simulink simulation shows that the fuzzy controller can effectively perceive the real-time fluctuations of the terrain on both sides, realize the adaptive adjustment of the header to uneven ground, and has good stability and anti-interference. Field test verification: compared with the manual mode, the coefficient of variation (CV%) of stubble height in the automatic mode is 40%~60% lower than that in the manual mode, and the CV% remains ≤ 11.76 when the vehicle speed rises to 2m/s, significantly improving the adaptability to complex terrain.

Abstract in Chinese

针对丘陵山区荞麦地地形起伏大、地块分散导致的割茬高度不均问题，以4SZ-1.5型荞麦割晒机为研究对象，提出一种基于模糊控制的全方位割台仿形策略。通过构建旋转式横向仿形机构（旋转液压缸）与升降式纵向仿形机构（提升液压缸）的协同控制系统，结合滑板式角位移传感器实时获取路面高程信息；采用滤波白噪声时域模型生成随机路面激励，建立Mamdani型模糊控制器，以左右侧角度偏差为输入，输出液压缸伸缩量指令。Simulink仿真表明：模糊控制器能够有效感知两侧地形的实时起伏，实现割台对不平地面的自适应调节，且具有良好的稳定性和抗干扰性。田间试验验证：相比手动模式，自动模式下割茬高度变异系数（CV%）较手动模式降低40%~60%，且车速升至2m/s时仍保持CV%≤11.76，显著提升复杂地形适应性。