A control system and method for a grain threshing test bench with automatic decision-making function

Abstract

The present invention discloses a control system and method for a grain threshing test bench with an automatic decision-making function, which can make automatic decisions according to the working state of the test bench, and automatically adjust the test parameters, thereby improving the working efficiency of the threshing test bench. The system includes a mechanical assembly, a central controller, a sensor measurement system, a manual interaction system, and a control output system. The central controller obtains the real-time working state of the threshing test bench through various measurement sensors arranged in the mechanical assembly. After making an automatic decision, the central controller can change the grain feeding amount, the horizontal inclination angle of the threshing drum, and the speed of the threshing drum according to the control strategy, and automatically store the working state parameters and control parameters of the threshing test bench; the method also adds a threshing drum cleaning program to improve the accuracy of the threshing test. This control system and method improve the intelligence level of the grain threshing test bench, can greatly reduce the grain threshing test time, and provide accurate test data for the development of different types of threshing systems.

Description

Technical Field

[0001] The invention belongs to the technical field of grain threshing, and more specifically, relates to a grain threshing test bench control system and method with automatic decision-making function. Background Art

[0002] The grain threshing test bench is an important equipment for studying the grain threshing mechanism, developing new threshing devices and threshing elements, and verifying threshing parameters. It plays a key role in reducing the threshing loss rate, breakage rate and impurity rate, and improving the threshing quality. Although there are many types of threshing test benches, most of the control systems still use the manual setting mode. In a single test, the test is carried out with fixed parameters such as the drum speed and grain feeding speed. The efficiency is low, and there is a lack of automatic control and automatic decision-making. In order to obtain satisfactory test results, a lot of time, manpower and material resources need to be invested. Summary of the invention

[0003] Aiming at the problem that the current grain threshing test bench lacks an automatic decision-making control system, the present invention provides a grain threshing test bench control system and method which can make automatic decisions according to the working state of the test bench and automatically adjust test parameters.

[0004] A grain threshing test bench control system with automatic decision-making function comprises a mechanical assembly, a central controller, a sensor measurement system, a manual interaction system and a control output system.

[0005] The mechanical assembly comprises a grain feeding assembly, a grain collecting assembly, a threshing drum assembly, an impurity collecting assembly, a drum driving assembly and a drum frame assembly.

[0006] The grain feeding assembly is installed at the front end of the threshing drum assembly and is an independent device, and its upper grain outlet is close to the feeding port of the threshing drum assembly; the grain collecting assembly is arranged below the threshing drum assembly and is fixed on the drum frame assembly; the threshing drum assembly is installed on the drum frame assembly through the drum support frame; the impurity collecting assembly is installed at the rear end of the threshing drum assembly and is fixed to the drum frame assembly with bolts; the drum driving assembly is installed on the side of the rear end of the threshing drum assembly and is an independent detachable device, which transmits power to the rear axle of the threshing drum assembly through a spline connection.

[0007] The central controller is arranged inside the intelligent control cabinet, and is connected to the sensor measurement system through an analog signal bus, is connected to the manual interaction system through an Ethernet bus, and is connected to the control output system through an output bus. The central controller is an embedded microcontroller, and its clock frequency is not less than 72MHz, the number of IO ports is not less than 4, the number of analog-to-digital conversion channels is not less than 5, the number of digital-to-analog conversion channels is not less than 4, and the number of SPI interfaces is not less than 2.

[0008] The sensor measurement system comprises a rotation speed torque sensor, a feeding weighing sensor, a grain weighing sensor, a drum inclination sensor and an impurity weighing sensor.

[0009] The speed torque sensor is installed on the drive assembly support, the input end of the speed torque sensor is connected to the output end of the drum speed control motor, and the output end of the speed torque sensor drives the threshing drum assembly to rotate through mechanical connection and universal shaft transmission; the speed torque sensor can measure the rotation speed n and rotation torque T of the threshing drum assembly. The speed torque sensor is a flange connection structure, the speed measurement range is not less than 1500rpm, and the torque measurement range is not less than 1000Nm.

[0010] The feeding weighing sensor is fixed on the feeding assembly support; the feeding weighing sensor is supported under the grain conveying assembly and can measure the grain feeding amount w conveyed by the grain conveying assembly. The feeding weighing sensor is a column weighing sensor with a measuring range of not less than 1000kg.

[0011] The seed weighing sensor is composed of 11 sub-sensors, which are respectively installed under the 11 rectangular sub-buckets of the array grain receiving hopper, and can measure the grain mass Z1~Z2 in each rectangular sub-bucket. 11 The seed weighing sensor is a column weighing sensor, and the total range is not less than 500kg.

[0012] The drum inclination sensor is installed on the drum support frame of the threshing drum assembly, and the drum inclination sensor measures the inclination angle θ of the threshing drum assembly relative to the horizontal plane according to the movement of the threshing drum assembly. The drum inclination sensor is a single-axis inclination sensor with a measuring range of not less than ±60°.

[0013] The impurity weighing sensor is installed below the rear end of the impurity collecting assembly and is used to measure the mass I of impurities discharged from the threshing drum assembly. The impurity weighing sensor is a column weighing sensor with a measuring range of not less than 500kg.

[0014] The artificial interaction system includes a display / control touch screen and a data storage unit. The display / control touch screen is installed on the front panel of the intelligent control cabinet. The display / control touch screen transmits data with the central controller through the Ethernet bus. The display / control touch screen can set test parameters and display test data; the data storage unit is installed inside the intelligent control cabinet. The data storage unit records the sensor data collected by the central controller and the control commands issued. The display / control touch screen is a resistive touch screen with a panel size of not less than 7 inches and at least 1 LAN interface.

[0015] The control output system comprises a drum speed control frequency converter, a drum speed control motor, an electro-hydraulic proportional reversing valve, a drum inclination adjustment cylinder, a feeding control frequency converter and a feeding control motor.

[0016] The drum speed control inverter is installed inside the intelligent control cabinet, and the drum speed control motor is fixed to the drive assembly support by bolts; the central controller adjusts the output frequency of the drum speed control inverter through the output bus, and the drum speed control inverter adjusts the output speed of the drum speed control motor, and controls the speed of the threshing drum assembly through mechanical transmission; the speed control range of the threshing drum assembly is 150-800rpm. The drum speed control inverter is a vector inverter, with an output power of not less than 15kW and a maximum output frequency of not less than 200Hz; the drum speed control motor is an AC variable frequency motor with a power of not less than 15kW.

[0017] The electro-hydraulic proportional reversing valve is installed inside the intelligent control cabinet. The bottom of the drum inclination adjustment cylinder is hinged to the threshing drum frame assembly, and the upper end of the drum inclination adjustment cylinder is hinged to the drum support frame. The central controller adjusts the flow rate and control direction of the electro-hydraulic proportional reversing valve through the output bus. The electro-hydraulic proportional reversing valve controls the extension and retraction of the drum inclination adjustment cylinder, driving the inclination angle of the threshing drum assembly to the horizontal plane to increase or decrease. The inclination angle adjustment range of the threshing drum assembly to the horizontal plane is -3° to 10°. The drum inclination adjustment cylinder is a double-acting single piston rod cylinder with a total thrust of not less than 10kN.

[0018] The feed control inverter is installed inside the intelligent control cabinet, and the feed control motor is fixed to the feed assembly support by bolts; the central controller adjusts the output frequency of the feed control inverter through the output bus, and the feed control inverter adjusts the output speed of the feed control motor, and controls the feed amount of the grain conveying assembly through mechanical transmission; the grain feed amount control range is 0.5-12kg / s. The feed control inverter is a vector inverter, with an output power of not less than 3kW and a maximum output frequency of not less than 200Hz; the feed control motor is an AC variable frequency motor with a power of not less than 3kW.

[0019] A control method for a grain threshing test bench with an automatic decision-making function, the method comprising the following steps:

[0020] Step 1: Set the initial speed n0, initial inclination angle θ0 and initial feed amount w0 of the threshing drum assembly through the display / control touch screen, and all set values ​​enter the central controller through the Ethernet bus.

[0021] Step 2: The central controller sends control signals to the drum speed control inverter, the electro-hydraulic proportional reversing valve and the feed control inverter through the output bus to drive the drum speed control motor, the drum inclination adjustment cylinder and the feed control motor to operate, so that the speed of the threshing drum assembly reaches n0, the inclination angle of the threshing drum assembly to the horizontal plane reaches θ0, and the feed amount reaches w0; then it runs stably for 30 seconds.

[0022] Step 3: The central controller collects data from the speed torque sensor to obtain the current speed n t , instant torque T t , instant roller inclination angle θ t and instant feed amount w t .

[0023] Step 4: The central controller calculates the current torque T t and the last recorded torque T t-1 The difference between the torque difference ΔT in this time period is obtained.

[0024] Step 5: The central controller makes an intelligent decision based on the torque difference ΔT.

[0025] Step 5.1: If the torque difference ΔT is less than -30Nm, enter the decision-making process of increasing the threshing amount. First, determine whether the feeding amount reaches the maximum feeding amount of 12kg / s. If it is not, increase the speed of the feeding control motor. t On the basis of the increase in feeding amount, the increase is 0.5kg / s, and the recording process is entered; if it is judged that the feeding amount has reached the maximum feeding amount, the roller inclination angle θ is judged. t If it reaches 10°, if it is not, increase the extension of the roller inclination adjustment cylinder. t On the basis of the horizontal inclination angle of the threshing drum assembly, the increase is 1°, and the recording process is entered; if it is judged that the horizontal inclination angle of the threshing drum assembly has reached 10°, the current speed of the drum is determined to be n t Whether it reaches the minimum value of 150rpm, if it is judged as no, the drum speed is reduced to control the motor speed. t Based on the above, the speed is reduced by 10rpm and the recording process is entered; if the current speed of the drum is n t If the minimum value of 150rpm has been reached, the recording process will be entered directly;

[0026] Step 5.2: If the torque difference ΔT is greater than 30Nm, enter the decision-making process of reducing the threshing amount. First, determine whether the feeding amount has reached the minimum feeding amount of 0.5kg / s. If it is not, reduce the speed of the feeding control motor, and reduce the feeding amount on the basis of the existing feeding amount wt by 0.5kg / s, and enter the recording process; if it is determined that the feeding amount has reached the minimum feeding amount, determine the drum inclination angle θ t Whether the inclination angle reaches 0°, if it is judged as no, the extension amount of the roller inclination adjustment cylinder is reduced, and the roller inclination angle θ t On the basis of the horizontal inclination angle of the threshing drum assembly, the reduction amount is 1°, and the recording process is entered; if it is determined that the horizontal inclination angle of the threshing drum assembly has reached 0°, the current speed of the drum is determined to be n t Whether it reaches the maximum value of 800rpm, if it is judged to be no, the drum speed is increased to control the motor speed. t On the basis of the increase in speed, the increase is 10rpm, and the recording process is entered; if the current speed of the drum is determined to be n t If the maximum speed of 800rpm has been reached, the recording process will be entered directly;

[0027] Step 5.3: If the absolute value of the torque difference ΔT is less than or equal to 30 Nm, it is determined that the test bench is in a stable operating state and the recording process is directly entered;

[0028] Step 5.4: During the recording process, the central controller collects the current drum speed n t , roller torque T t 、Drum inclination angle θ t , feed amount wt, grain quality Z 1t ~Z 11t 、Impurity quality I t The central controller sends the above data and the set values ​​of the drum speed control inverter, the electro-hydraulic proportional reversing valve, the feed control inverter and the current time point to the data storage unit through the Ethernet bus for storage.

[0029] Step 6: After the intelligent decision is executed, wait for 15 seconds for stable operation.

[0030] Step 7: Receive information from the display / control touch screen to determine whether a command to end the test has been input.

[0031] Step 7.1: If the test result is judged to be no, re-enter step 3 to continue the test.

[0032] Step 7.2: If the test result is yes, perform the drum cleaning procedure.

[0033] Step 8. In the drum cleaning procedure, the central controller stops the feeding control motor through the output bus, sets the horizontal inclination angle of the threshing drum to -3°, sets the drum speed control motor to make the threshing drum assembly speed reach 300rpm, and then runs stably for 60 seconds.

[0034] Step 9: The central controller stops the drum speed control motor through the output bus, and the test ends.

[0035] Compared with the prior art, the present invention has the following beneficial effects:

[0036] (1) Through the automatic decision-making of the central controller, the threshing test bench can be controlled to achieve the best working state, which can prevent the problem of low threshing efficiency caused by too little grain and the problem of threshing drum jamming caused by too much grain.

[0037] (2) The use of display / control touch screen as the human-computer interaction interface improves the convenience of threshing test bench operation and the intuitiveness of data display.

[0038] (3) The control system automatically records the threshing drum speed, threshing drum torque, relative inclination angle between the threshing drum and the horizontal plane, grain feed amount, grain quality and impurity quality after threshing at regular intervals, providing basic data for the subsequent design of reasonable threshing system parameters.

[0039] (4) The control system has its own drum cleaning program, which automatically clears the remaining grain in the threshing drum after each test, ensuring the accuracy of the next test. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 It is a principle block diagram of the control system of the grain threshing test bench with automatic decision-making function of the present invention;

[0041] Figure 2 It is a mechanical structure diagram of a grain threshing test bench with automatic decision-making function of the present invention;

[0042] Figure 3 It is an installation diagram of the control system components of the grain threshing test bench with automatic decision-making function of the present invention;

[0043] Figure 4 is a flow chart of the control method of the present invention;

[0044] Figure 5 is the automatic decision-making flow chart of the present invention;

[0045] Figure 6 is a flow chart of the drum cleaning procedure of the present invention;

[0046] In the figure: A, mechanical assembly; B, central controller; C, sensor measurement system; D, manual interaction system; E, control output system; 1, grain feeding assembly; 2, grain collecting assembly; 3, threshing drum assembly; 4, impurity collection assembly; 5, drum drive assembly; 6, drum frame assembly; 7, speed torque sensor; 8, feeding weighing sensor; 9, grain weighing sensor; 10, drum inclination sensor; 11, impurity weighing sensor; 12, display / control touch screen; 13, data storage unit; 14, drum speed control inverter; 15, drum speed control motor; 16, electro-hydraulic proportional reversing valve; 17, drum inclination adjustment cylinder; 18, feeding control inverter; 19, feeding control motor; 20, intelligent control cabinet; 21, drive assembly support; 22, array grain receiving hopper; 23, drum support frame; 24, grain conveying assembly; 25, feeding assembly support. DETAILED DESCRIPTION

[0047] See also Figures 1 to 3 , a grain threshing test bench control system with automatic decision-making function, including a mechanical assembly A, a central controller B, a sensor measurement system C, a manual interaction system D and a control output system E.

[0048] The mechanical assembly A comprises a grain feeding assembly 1, a grain collecting assembly 2, a threshing drum assembly 3, an impurity collecting assembly 4, a drum driving assembly 5 and a drum frame assembly 6.

[0049] The grain feeding assembly 1 is installed at the front end of the threshing drum assembly 3 and is an independent device, and its upper grain outlet is close to the feeding port of the threshing drum assembly 3; the grain collecting assembly 2 is arranged below the threshing drum assembly 3 and fixed on the drum frame assembly 6; the threshing drum assembly 3 is installed on the drum frame assembly 6 through the drum support frame 23; the impurity collecting assembly 4 is installed at the rear end of the threshing drum assembly 3 and is fixed to the drum frame assembly 6 with bolts; the drum driving assembly 5 is installed on the side of the rear end of the threshing drum assembly 3 and is an independent detachable device, which transmits power to the rear axle of the threshing drum assembly 3 through a spline connection.

[0050] The central controller B is arranged inside the intelligent control cabinet 20, and is connected to the sensor measurement system C through an analog signal bus, is connected to the manual interaction system D through an Ethernet bus, and is connected to the control output system E through an output bus. The central controller B is an embedded microcontroller, and has a clock frequency of not less than 72MHz, not less than 4 IO ports, not less than 5 analog-to-digital conversion channels, not less than 4 digital-to-analog conversion channels, and not less than 2 SPI interfaces.

[0051] The sensor measurement system C includes a speed torque sensor 7, a feeding weighing sensor 8, a grain weighing sensor 9, a drum inclination sensor 10 and an impurity weighing sensor 11.

[0052] The speed torque sensor 7 is installed on the driving assembly support 21, the input end of the speed torque sensor 7 is connected to the output end of the drum speed control motor 15, and the output end of the speed torque sensor 7 drives the threshing drum assembly 3 to rotate through mechanical connection and universal shaft transmission; the speed torque sensor 7 can measure the rotation speed n and rotation torque T of the threshing drum assembly 3. The speed torque sensor 7 is a flange connection structure, the speed measurement range is not less than 1500rpm, and the torque measurement range is not less than 1000Nm.

[0053] The feeding weighing sensor 8 is fixed on the feeding assembly support 25; the feeding weighing sensor 8 is supported below the grain conveying assembly 24, and can measure the grain feeding amount w conveyed by the grain conveying assembly 24. The feeding weighing sensor 8 is a column weighing sensor, and the measuring range is not less than 1000kg.

[0054] The seed weighing sensor 9 is composed of 11 sub-sensors, which are respectively installed under the 11 rectangular sub-buckets of the array grain receiving hopper 22, and can measure the grain mass Z1~Z2 in each rectangular sub-bucket. 11 The seed weighing sensor 9 is a column weighing sensor, and the total range is not less than 500kg.

[0055] The drum inclination sensor 10 is installed on the drum support frame 23 of the threshing drum assembly 3. The drum inclination sensor 10 measures the inclination angle θ of the threshing drum assembly 3 relative to the horizontal plane according to the movement of the threshing drum assembly 3; the drum inclination sensor 10 is a single-axis inclination sensor with a measuring range of not less than ±60°.

[0056] The impurity weighing sensor 11 is installed below the rear end of the impurity collecting assembly 4, and is used to measure the mass I of impurities discharged from the threshing drum assembly 3. The impurity weighing sensor 11 is a column weighing sensor, and the measuring range is not less than 500kg.

[0057] The artificial interaction system D includes a display / control touch screen 12 and a data storage unit 13. The display / control touch screen 12 is installed on the front panel of the intelligent control cabinet 20. The display / control touch screen 12 transmits data with the central controller B through the Ethernet bus. The display / control touch screen 12 can set test parameters and display test data; the data storage unit 13 is installed inside the intelligent control cabinet 20. The data storage unit 13 records the sensor data collected by the central controller B and the control commands issued. The display / control touch screen 12 is a resistive touch screen with a panel size of not less than 7 inches and at least 1 LAN interface.

[0058] The control output system E includes a drum speed control inverter 14, a drum speed control motor 15, an electro-hydraulic proportional reversing valve 16, a drum inclination adjustment cylinder 17, a feeding control inverter 18 and a feeding control motor 19.

[0059] The drum speed control inverter 14 is installed inside the intelligent control cabinet 20, and the drum speed control motor 15 is fixed to the drive assembly support 21 by bolts; the central controller B adjusts the output frequency of the drum speed control inverter 14 through the output bus, and the drum speed control inverter 14 adjusts the output speed of the drum speed control motor 15, and controls the speed of the threshing drum assembly 3 through mechanical transmission; the speed control range of the threshing drum assembly 3 is 150-800rpm. The drum speed control inverter 14 is a vector inverter, the output power is not less than 15kW, and the maximum output frequency is not less than 200Hz; the drum speed control motor 15 is an AC variable frequency motor, the power is not less than 15kW.

[0060] The electro-hydraulic proportional reversing valve 16 is installed inside the intelligent control cabinet 20, the bottom of the drum inclination adjustment cylinder 17 is hinged to the threshing drum frame assembly 20, and the upper end of the drum inclination adjustment cylinder 17 is hinged to the drum support frame 23; the central controller B adjusts the flow size and control direction of the electro-hydraulic proportional reversing valve 16 through the output bus; the electro-hydraulic proportional reversing valve 16 controls the extension and retraction of the drum inclination adjustment cylinder 17, driving the inclination angle of the threshing drum assembly 3 to the horizontal plane to increase or decrease; the inclination angle adjustment range of the threshing drum assembly 3 to the horizontal plane is -3° to 10°. The drum inclination adjustment cylinder 17 is a double-acting single piston rod cylinder with a total thrust of not less than 10kN.

[0061] The feeding control inverter 18 is installed inside the intelligent control cabinet 20, and the feeding control motor 19 is fixed to the feeding assembly support 25 by bolts; the central controller B adjusts the output frequency of the feeding control inverter 18 through the output bus, and the feeding control inverter 18 adjusts the output speed of the feeding control motor 19, and controls the feeding amount of the grain conveying assembly 24 through mechanical transmission; the grain feeding amount control range is 0.5-12kg / s. The feeding control inverter 18 is a vector inverter, the output power is not less than 3kW, and the maximum output frequency is not less than 200Hz; the feeding control motor 19 is an AC variable frequency motor, the power is not less than 3kW.

[0062] See also Figures 4 to 6 , a control method for a grain threshing test bench with an automatic decision-making function, the method comprising the following steps:

[0063] Step 1: Set the initial rotation speed n0, initial inclination angle θ0 and initial feed amount w0 of the threshing drum assembly 3 through the display / control touch screen 12, and all set values ​​enter the central controller B through the Ethernet bus.

[0064] Step 2, the central controller B sends control signals to the drum speed control inverter 14, the electro-hydraulic proportional reversing valve 16 and the feeding control inverter 18 through the output bus, driving the drum speed control motor 15, the drum inclination adjustment cylinder 17 and the feeding control motor 19 to operate, so that the speed of the threshing drum assembly 3 reaches n0, the inclination angle of the threshing drum assembly 3 to the horizontal plane reaches θ0, and the feeding amount reaches w0; then it runs stably for 30 seconds.

[0065] Step 3: The central controller B collects data from the speed torque sensor 7 to obtain the instantaneous speed n t , instant torque T t , instant roller inclination angle θ t and instant feed amount w t .

[0066] Step 4: The central controller B calculates the current torque T t and the last recorded torque T t-1 The difference between the torque difference ΔT in this time period is obtained.

[0067] Step 5: The central controller B makes an intelligent decision based on the torque difference ΔT.

[0068] Step 5.1: If the torque difference ΔT is less than -30Nm, enter the decision-making process of increasing the threshing amount. First, determine whether the feeding amount reaches the maximum feeding amount of 12kg / s. If it is not, increase the speed of the feeding control motor 19. tOn the basis of the increase in feeding amount, the increase is 0.5kg / s, and the recording process is entered; if it is judged that the feeding amount has reached the maximum feeding amount, the roller inclination angle θ is judged. t If it is judged to be no, the extension amount of the roller inclination adjustment cylinder 11 is increased, and the existing roller inclination angle θ t On the basis of the horizontal inclination angle of the threshing drum assembly 3, the increase is 1°, and the recording process is entered; if it is determined that the horizontal inclination angle of the threshing drum assembly 3 has reached 10°, the current speed of the drum is determined to be n t Whether it reaches the minimum value of 150rpm, if it is judged to be no, the speed of the drum speed control motor 15 is reduced, and the current drum speed n t Based on the above, the speed is reduced by 10rpm and the recording process is entered; if the current speed of the drum is n t If the minimum value of 150rpm has been reached, the recording process will be entered directly;

[0069] Step 5.2: If the torque difference ΔT is greater than 30Nm, enter the decision-making process of reducing the threshing amount. First, determine whether the feeding amount has reached the minimum feeding amount of 0.5kg / s. If it is judged to be no, reduce the speed of the feeding control motor 19, reduce the feeding amount on the basis of the existing feeding amount wt, and reduce the feeding amount by 0.5kg / s, and enter the recording process; if it is determined that the feeding amount has reached the minimum feeding amount, determine the drum inclination angle θ t Whether the inclination angle reaches 0°, if it is judged to be no, the extension amount of the roller inclination adjustment cylinder 11 is reduced, and the roller inclination angle θ t On the basis of the above, the horizontal inclination angle of the threshing drum assembly 3 is reduced by 1°, and the recording process is entered; if it is determined that the horizontal inclination angle of the threshing drum assembly 3 has reached 0°, the current speed of the drum is determined to be n t Whether it reaches the maximum value of 800rpm, if it is judged to be no, the speed of the drum speed control motor 15 is increased, and the current drum speed n t On the basis of the increase in speed, the increase is 10rpm, and the recording process is entered; if the current speed of the drum is determined to be n t If the maximum speed of 800rpm has been reached, the recording process will be entered directly;

[0070] Step 5.3: If the absolute value of the torque difference ΔT is less than or equal to 30 Nm, it is determined that the test bench is in a stable operating state and the recording process is directly entered;

[0071] Step 5.4: During the recording process, the central controller B collects the current drum speed n t , roller torque T t 、Drum inclination angle θ t , feed amount wt, grain quality Z 1t ~Z 11t、Impurity quality I t The central controller B sends the above data and the set values ​​of the drum speed control inverter 14, the electro-hydraulic proportional reversing valve 16, the feed control inverter 18 and the current time point to the data storage unit 13 through the Ethernet bus for storage.

[0072] Step 6: After the intelligent decision is executed, wait for 15 seconds for stable operation.

[0073] Step 7: Receive information from the display / control touch screen 12 to determine whether a command to end the test has been input.

[0074] Step 7.1: If the test result is judged to be no, re-enter step 3 to continue the test.

[0075] Step 7.2: If the test result is yes, perform the drum cleaning procedure.

[0076] Step 8. In the drum cleaning procedure, the central controller B stops the feeding control motor 19 through the output bus, sets the horizontal inclination angle of the threshing drum to -3°, sets the drum speed control motor 15 to make the speed of the threshing drum assembly 3 reach 300rpm, and then runs stably for 60 seconds.

[0077] Step 9: The central controller B stops the drum speed control motor 15 via the output bus, and the test ends.

Claims

1. A control method for a grain threshing test bench with an automatic decision-making function, characterized in that: The control method comprises the following steps: Step 1: setting the initial rotation speed n0, initial inclination angle θ0 and initial feed amount w0 of the threshing drum assembly (3) through the display / control touch screen (12), and all the set values ​​enter the central controller (B) through the Ethernet bus; Step 2, the central controller (B) sends control signals to the drum speed control inverter (14), the electro-hydraulic proportional reversing valve (16) and the feed control inverter (18) through the output bus, driving the drum speed control motor (15), the drum inclination adjustment cylinder (17) and the feed control motor (19) to operate, so that the speed of the threshing drum assembly (3) reaches n0, the inclination angle of the threshing drum assembly (3) with the horizontal plane reaches θ0, and the feed amount reaches w0; then the machine runs stably for 30 seconds; Step 3: The central controller (B) collects data from the speed torque sensor (7) to obtain the instantaneous speed n t , instant torque T t , instant roller inclination angle θ t and instant feed amount w t ; Step 4: The central controller (B) calculates the current torque T t and the last recorded torque T t-1 Make a difference and obtain the torque difference ΔT in this time period; Step 5: The central controller (B) makes an intelligent decision based on the torque difference ΔT; Step 5.1: If the torque difference ΔT is less than -30 Nm, enter the decision-making process of increasing the threshing amount; first determine whether the feeding amount reaches the maximum feeding amount of 12 kg / s. If it is not, increase the speed of the feeding control motor (19) to the current feeding amount w. t On the basis of the increase in feeding amount, the increase is 0.5kg / s, and the recording process is entered; if it is judged that the feeding amount has reached the maximum feeding amount, the roller inclination angle θ is judged. t If it is judged to be no, the extension amount of the roller inclination adjustment cylinder (17) is increased, and the roller inclination angle θ is adjusted to 10°. t On the basis of the horizontal inclination angle of the threshing drum assembly (3), the increase is 1°, and the recording process is entered; if it is determined that the horizontal inclination angle of the threshing drum assembly (3) has reached 10°, the current rotation speed of the drum is determined to be n t Whether it reaches the minimum value of 150rpm, if it is judged to be no, the speed of the drum speed control motor (15) is reduced, and the current drum speed n t Based on the above, the speed is reduced by 10rpm and the recording process is entered; if the current speed of the drum is n t If the minimum value of 150rpm has been reached, the recording process will be entered directly; Step 5.2: If the torque difference ΔT is greater than 30 Nm, enter the decision-making process of reducing the threshing amount; first determine whether the feed amount has reached the minimum feed amount of 0.5 kg / s. If it is determined to be no, reduce the speed of the feed control motor (19), reduce the feed amount based on the existing feed amount wt, and reduce the feed amount by 0.5 kg / s, and enter the recording process; if it is determined that the feed amount has reached the minimum feed amount, determine the drum inclination angle θ t Whether the inclination angle reaches 0°, if it is judged to be no, the extension amount of the roller inclination adjustment cylinder (17) is reduced, and the roller inclination angle θ t On the basis of the above, the horizontal inclination angle of the threshing drum assembly (3) is reduced by 1°, and the recording process is entered; if it is determined that the horizontal inclination angle of the threshing drum assembly (3) has reached 0°, the current rotation speed n of the drum is determined. t Whether the maximum value of 800 rpm is reached, if it is judged to be no, the speed of the drum speed control motor (15) is increased, and the current drum speed n t On the basis of the increase in speed, the increase is 10rpm, and the recording process is entered; if the current speed of the drum is determined to be n t If the maximum speed of 800rpm has been reached, the recording process will be entered directly; Step 5.3: If the absolute value of the torque difference ΔT is less than or equal to 30 Nm, it is determined that the test bench is in a stable operating state and the recording process is directly entered; Step 5.4: During the recording process, the central controller (B) collects the current drum speed n t , roller torque T t 、Drum inclination angle θ t , feed amount wt, grain quality Z 1t ~Z 11t 、Impurity quality I t The central controller (B) sends the above data and the set values ​​of the drum speed control inverter (14), the electro-hydraulic proportional reversing valve (16), the feed control inverter (18) and the current time point to the data storage unit (13) through the Ethernet bus for storage; Step 6: After the intelligent decision is executed, wait for 15 seconds for stable operation; Step 7, receiving information from the display / control touch screen (12) to determine whether a command to end the test has been input; Step 7.1: If the test result is judged to be no, re-enter step 3 to continue the test; Step 7.2: If the test result is yes, perform the drum cleaning procedure; Step 8, in the drum cleaning procedure, the central controller (B) stops the feeding control motor (19) through the output bus, sets the horizontal inclination angle of the threshing drum to -3°, sets the drum speed control motor (15) to make the speed of the threshing drum assembly (3) reach 300 rpm, and then runs stably for 60 seconds; Step 9: The central controller (B) stops the drum speed control motor (15) via the output bus, and the test ends.

2. A grain threshing test bench control system using the automatic decision-making function control method of claim 1, characterized in that: It includes mechanical assembly (A), central controller (B), sensor measurement system (C), human interaction system (D) and control output system (E); The mechanical assembly (A) comprises a grain feeding assembly (1), a grain collecting assembly (2), a threshing drum assembly (3), an impurity collecting assembly (4), a drum driving assembly (5) and a drum frame assembly (6); The grain feeding assembly (1) is installed at the front end of the threshing drum assembly (3) and is an independent device, and its upper grain outlet is close to the feeding port of the threshing drum assembly (3); the grain collecting assembly (2) is arranged below the threshing drum assembly (3) and is fixed on the drum frame assembly (6); the threshing drum assembly (3) is installed on the drum frame assembly (6) through a drum support frame (23); the impurity collecting assembly (4) is installed at the rear end of the threshing drum assembly (3) and is fixed to the drum frame assembly (6) by bolts; the drum driving assembly (5) is installed on the side of the rear end of the threshing drum assembly (3) and is an independent detachable device, which transmits power to the rear axle of the threshing drum assembly (3) through a spline connection.

3. The grain threshing test bench control system with automatic decision-making function according to claim 2 is characterized in that: The central controller (B) is arranged inside the intelligent control cabinet (20), the central controller (B) is connected to the sensor measurement system (C) via an analog signal bus, the central controller (B) is connected to the manual interaction system (D) via an Ethernet bus, and the central controller (B) is connected to the control output system (E) via an output bus; The central controller (B) is an embedded microcontroller with a clock frequency of not less than 72MHz, not less than 4 IO ports, not less than 5 analog-to-digital conversion channels, not less than 4 digital-to-analog conversion channels, and not less than 2 SPI interfaces.

4. The grain threshing test bench control system with automatic decision-making function according to claim 2 is characterized in that: The sensor measurement system (C) comprises a rotation speed torque sensor (7), a feeding weighing sensor (8), a grain weighing sensor (9), a drum inclination sensor (10) and an impurity weighing sensor (11); The speed torque sensor (7) is mounted on the drive assembly support (21); the input end of the speed torque sensor (7) is connected to the output end of the drum speed control motor (15); the output end of the speed torque sensor (7) drives the threshing drum assembly (3) to rotate through a mechanical connection and a universal shaft transmission; the speed torque sensor (7) is used to measure the rotation speed and rotation torque of the threshing drum assembly (3); the speed torque sensor (7) is a flange connection structure, the speed measurement range is not less than 1500rpm, and the torque measurement range is not less than 1000Nm; The feeding weighing sensor (8) is fixed on the feeding assembly support 25; the feeding weighing sensor (8) is supported below the grain conveying assembly (24) and is used to measure the feeding amount of grains conveyed by the grain conveying assembly (24); the feeding weighing sensor (8) is a column type weighing sensor, and the measuring range is not less than 1000kg; The seed weighing sensor (9) is composed of 11 sub-sensors, which are respectively installed under the 11 rectangular sub-buckets of the array grain receiving hopper (22) and are used to measure the mass of the seed in each rectangular sub-bucket; the seed weighing sensor (9) is a column weighing sensor, and the total range is not less than 500kg; The drum inclination sensor (10) is mounted on a drum support frame (23) of the threshing drum assembly (3), and the drum inclination sensor (10) measures the inclination of the threshing drum assembly (3) relative to a horizontal plane according to the movement of the threshing drum assembly (3); the drum inclination sensor (10) is a single-axis inclination sensor, and the measuring range is not less than ±60°; The impurity weighing sensor (11) is installed below the rear end of the impurity collecting assembly (4) and is used to measure the mass of impurities discharged from the threshing drum assembly (3); the impurity weighing sensor (11) is a column weighing sensor with a measuring range of not less than 500kg.

5. The grain threshing test bench control system with automatic decision-making function according to claim 2 is characterized in that: The artificial interaction system (D) comprises a display / control touch screen (12) and a data storage unit (13); the display / control touch screen (12) is installed on the front panel of the intelligent control cabinet (20), the display / control touch screen (12) performs data transmission with the central controller (B) via an Ethernet bus, and the display / control touch screen (12) can set test parameters and display test data; the data storage unit (13) is installed inside the intelligent control cabinet (20), and the data storage unit (13) records the sensor data collected by the central controller (B) and the control commands issued; the display / control touch screen (12) is a resistive touch screen, the panel size is not less than 7 inches, and the number of LAN interfaces is not less than 1.

6. The grain threshing test bench control system with automatic decision-making function according to claim 2 is characterized in that: The control output system (E) comprises a drum speed control frequency converter (14), a drum speed control motor (15), an electro-hydraulic proportional reversing valve (16), a drum inclination adjustment cylinder (17), a feed control frequency converter (18) and a feed control motor (19); The drum speed control inverter (14) is installed inside the intelligent control cabinet (20), and the drum speed control motor (15) is fixed to the drive assembly support (21) by bolts; the central controller (B) adjusts the output frequency of the drum speed control inverter (14) through the output bus, and the drum speed control inverter (14) adjusts the output speed of the drum speed control motor (15), and controls the speed of the threshing drum assembly (3) through mechanical transmission; the speed control range of the threshing drum assembly (3) is 150-800rpm; the drum speed control inverter (14) is a vector inverter, the output power is not less than 15kW, and the maximum output frequency is not less than 200Hz; the drum speed control motor (15) is an AC variable frequency motor, the power is not less than 15kW; The electro-hydraulic proportional reversing valve (16) is installed inside the intelligent control cabinet (20); the bottom of the drum inclination adjusting cylinder (17) is hinged to the threshing drum frame assembly 20, and the upper end of the drum inclination adjusting cylinder (17) is hinged to the drum support frame (23); the central controller (B) adjusts the flow rate and control direction of the electro-hydraulic proportional reversing valve (16) through the output bus; the electro-hydraulic proportional reversing valve (16) controls the extension and retraction of the drum inclination adjusting cylinder (17), driving the inclination angle of the threshing drum assembly (3) and the horizontal plane to increase or decrease; the inclination angle of the threshing drum assembly (3) and the horizontal plane is adjusted in the range of -3° to 10°; the drum inclination adjusting cylinder (17) is a double-acting single piston rod cylinder, and the total thrust is not less than 10kN; The feed control frequency converter (18) is installed inside the intelligent control cabinet (20), and the feed control motor (19) is fixed on the feed assembly support 25 by bolts; the central controller (B) adjusts the output frequency of the feed control frequency converter (18) through the output bus, and the feed control frequency converter (18) adjusts the output speed of the feed control motor (19), and controls the feed amount of the grain conveying assembly (24) through mechanical transmission; the grain feed amount control range is 0.5-12kg / s; the feed control frequency converter (18) is a vector frequency converter, the output power is not less than 3kW, and the maximum output frequency is not less than 200Hz; the feed control motor (19) is an AC variable frequency motor, and the power is not less than 3kW.

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