طراحی ساخت و ارزیابی فنی سامانه کنترل خودکار تغییر موقعیت حفاظ خاک روتیواتور

نوع مقاله : مقاله پژوهشی

نویسندگان

1 دانشجوی سابق کارشناسی ارشد گروه مهندسی بیوسیستم، دانشکده کشاورزی، دانشگاه کردستان، سنندج، ایران

2 استادیار گروه مهندسی بیوسیستم، دانشکده کشاورزی، دانشگاه کردستان، سنندج، ایران

چکیده

چکیده: در این مطالعه، یک سامانه الکترو-هیدرولیک برای تغییر موقعیت حفاظ خاک یک روتیواتور طراحی، ساخته و ارزیابی شد، تا بتوان از آن­ برای انجام خاک‌ورزی نرخ متغیر بصورت خودکار استفاده کرد. جابجایی حفاظ خاک در حالت باز و بسته شدن از صفر تا 80 درجه و برعکس با گام­های 10 درجه­ای در آزمایشگاه و 20 درجه­ای در مزرعه بررسی شد. در شرایط آزمایشگاهی، میانگین سرعت تغییر موقعیت حفاظ خاک در حالت باز و بسته شدن به ترتیب 2/9±0/102 و 7/8±0/79 درجه بر ثانیه و میانگین زمان باز و بسته شدن به ترتیب02/0±11/0 و 01/0±15/0 ثانیه به‌دست آمد. ضرایب تبیین حاصل از همبستگی موقعیت درخواستی حفاظ خاک و موقعیت ایجاد شده به‌وسیله جک هیدرولیکی در آزمایشگاه در هر دو حالت باز و بسته شدن 99/0 با میانگین مربعات خطا 70/0 درجه به‌دست آمد. در شرایط مزرعه، میانگین سرعت تغییر موقعیت حفاظ خاک در سه سرعت 6/2، 5/3 و 8/4 کیلومتر بر ساعت به ترتیب در حالت باز شدن 7/97، 1/99 و 1/99 و در حالت بسته شدن 3/77، 3/78 و 7/78 درجه بر ثانیه به‌دست آمد. ضرایب تبیین همبستگی بین موقعیت درخواستی برای حفاظ خاک و موقعیت ایجاد شده توسط جک هیدرولیکی در هر دو حالت باز و بسته شدن 99/0 با میانگین مربعات خطا به ترتیب 2/1 و 3/1 درجه به‌دست آمد. سامانه جابجایی حفاظ خاک می­تواند حفاظ را در کمتر از 3/0 ثانیه در عملیات مزرعه‌ای جابجا کند و می‌توان آن‌­را به‌عنوان ابزاری مؤثر و کاربردی برای انجام خاک­ورزی نرخ متغیر مورد استفاده قرار داد.

کلیدواژه‌ها


عنوان مقاله [English]

Design, Development, and Technical Evaluation of an Automatic Controlling System for Repositioning of Rotary Tiller Soil Shield

نویسندگان [English]

  • Farzad Mohammadi 1
  • Mohammad Reza Maleki 2
  • Jalal Khodaei 2
1 Former student of Department of Biosystems Engineering, Faculty of Agriculture, University of Kurdistan, Sanandaj, Iran
2 Assistant Professor, Department of Biosystems Engineering, Faculty of Agriculture, University of Kurdistan, Sanandaj, Iran
چکیده [English]

Abstract: In the present study, an electro-hydraulic system for repositioning the soil shield of a rotary tiller was designed, developed, and evaluated to make it automated for performing variable rate tilling operation. The reposition of the soil shield was studied in the opening and closing stages from 0° to 80° and vice versa, with a 10° and 20° increment under laboratory and field conditions, respectively. Under laboratory conditions, the speed average of soil shield reposition in the opening and closing stages were 102.0±9.2 and 79.0±8.7 deg/s, with the time average in opening and closing stages of 0.11±0.02 and 0.15±0.01 s, respectively. The correlation coefficients between the requested position for the soil shield and the position created by the hydraulic actuator under laboratory conditions in both opening and closing states were R2 = 0.99 (RMSE = 0.7 deg). Under field conditions, the speed average of the soil shield reposition at three travel speeds of 2.6, 3.5, and 4.8 km/h in the opening stage were 97.7, 99.1, and 99.1 deg/s and in the closing stage were 77.3, 78.3, and 78.7 deg/s, respectively. The correlation between the requested position for the soil shield and the position created by the hydraulic actuator in both opening and closing states were R2 = 0.99 (RMSE = 1.2 deg) and R2=0.99 (RMES=1.3 deg), respectively. The soil shield repositioning system can be performed in less than 0.3 s in-field, making it an effective and practical tool for performing variable rate tillage.

کلیدواژه‌ها [English]

  • Encoder
  • Feedback signal
  • Precision agriculture
  • Electro-hydraulic
  • LabVIEW
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