Agricultural Machinery Power Configuration Method and System

Abstract

The present invention provides a method and system for power configuration of agricultural machinery, including: obtaining the rolling resistance of the tires of the agricultural machinery according to the weight of the agricultural machinery and the rolling resistance coefficient of the agricultural machinery tires, and obtaining the resistance of the plow according to the weight of the plow towed by the agricultural machinery, the friction coefficient, and the operating speed; constructing an optimal agricultural model of the agricultural machinery based on the rolling resistance of the tires, the resistance of the plow, and the total power composed of the operating speed and the traction force of the agricultural machinery itself; taking the actual traction force of the agricultural machinery being less than its rated traction force, the operating speed being less than its rated speed, and the actual power being less than its rated power as constraint conditions, and obtaining the optimal traction force of the agricultural machinery itself and the optimal operating speed of the agricultural model under the constraint conditions; determining the number of agricultural machinery N according to the target operation area, the optimal traction force of the agricultural machinery itself, and the optimal operating speed, and completing the target operation according to the operation path at the optimal operating speed. The present invention can improve the operation efficiency of agricultural machinery, reduce the production cost of agricultural mechanization, and improve the economic benefits of agricultural production.

Description

Technical Field

[0001] The present invention belongs to the fields of agriculture and information technology, and particularly relates to a method and system for configuring the power of agricultural machinery based on linear reconstruction technology. Background Art

[0002] With the rapid development of agricultural modernization in China, the total amount of agricultural machinery and equipment and the level of agricultural mechanization have been greatly improved. The operation efficiency of agricultural machinery is mainly reflected in two aspects: the reasonable degree of matching of the power transmission system of the agricultural machinery itself and the optimal matching degree of the power per mu of the farm.

[0003] In order to improve the operation efficiency of agricultural machinery, many experts and scholars have conducted relevant research on the power system of agricultural machinery. International leading enterprises such as John Deere and Case have conducted relevant research on the slip rate of agricultural machinery drive and basically achieved the control of the slip rate of agricultural machinery. For the plowing operation condition of rear-wheel drive high-power tractors, a joint automatic control method for the traction force - slip rate of high-power tractors is proposed to achieve anti-slip control of agricultural machinery. The correlation between the traction force, speed and slip rate of vehicles is studied, and a mathematical expression among the three is given through actual operations. Research on the power system of agricultural machinery provides a theoretical guidance basis for the optimization of the transmission structure and gear power matching of agricultural machinery. Research is carried out through the selection and matching of agricultural machinery and implements, and then guidance and suggestions are provided for the selection of agricultural implements and agricultural machinery in the agricultural production process. The above research has studied the power of agricultural machinery itself and the matching of agricultural machinery and implements, but has not optimized the configuration of agricultural machinery and implements in combination with the actual operation situation of the farm. The existing technology analyzes the configuration of modern agricultural machinery and equipment in ten thousand mu of paddy fields and systematically gives an agricultural machinery configuration plan. The existing technology studies the whole-process mechanization of sorghum production in Guizhou, proposes the best implement selection plan suitable for the characteristics of dam areas, and calculates the configuration quantity of agricultural machinery in different production links. The existing technology takes the Malanje agricultural planting area in Angola as the research object, optimizes and configures the mechanized production systems of two main crops, corn and soybean, and proposes an agricultural machinery configuration plan.

[0004] Although the above research optimizes the matching of agricultural machinery in combination with the actual operation scenario and gives guidance and suggestions, these studies simply assume the operation efficiency and speed of agricultural machinery and do not study the optimal configuration of the power of agricultural machinery itself and agricultural implements in the actual operation scenario. Summary of the Invention

[0005] The object of the present invention is to solve the problem of the imperfect farm machinery power configuration model. In view of this problem, the present invention comprehensively considers the relationship among the output power of agricultural machinery, the matching of agricultural implements, path planning, and operation time, and constructs a total power system model of agricultural machinery based on the theory of agricultural machinery operation mechanics. A linear reconstruction technology optimization method is proposed, which transforms a non-convex optimization problem into a convex optimization problem, and then solves this problem by the Lagrangian duality method.

[0006] In view of the deficiencies of the prior art, the present invention provides a method for configuring agricultural machinery power, which includes:

[0007] Step 1: According to the tillage width of the agricultural machinery, perform path planning for the target actual operation area to obtain the operation path of the agricultural machinery. According to the target operation completion time and this operation path, obtain the target operation area;

[0008] Step 2: According to the weight of the agricultural machinery and the rolling resistance coefficient of the agricultural machinery tires, obtain the tire rolling resistance of the agricultural machinery. According to the weight of the plow attached to the agricultural machinery, the friction coefficient, and the operation speed, obtain the plow resistance. Based on this tire rolling resistance, this plow resistance, and the total power composed of the operation speed and the self-traction of the agricultural machinery, construct an optimal agricultural model of the agricultural machinery;

[0009] Step 3: Taking the condition that the actual traction of the agricultural machinery is less than its rated traction, the operation speed is less than its rated speed, and the actual power is less than its rated power as constraints, obtain the optimal self-traction and optimal operation speed of the agricultural machinery in this optimal agricultural model under this constraint condition;

[0010] Step 4: According to this target operation area, this optimal self-traction of the agricultural machinery, and this optimal operation speed, determine the number of agricultural machinery N. N units of this agricultural machinery complete the target operation at this optimal operation speed according to this operation path.

[0011] In the method for configuring agricultural machinery power described above, step 2 includes:

[0012] According to the following formula, obtain this tire rolling resistance:

[0013] F 滚动 =G 农机 f

[0014] f = 0.0013h + 0.0988

[0015] where F 滚动 represents the tire rolling resistance, G 农机 represents the weight of the agricultural machinery, f represents the rolling resistance coefficient, and h is the rut depth;

[0016] The plow resistance is expressed as: F 犁具 =G 犁具 f 综合 + kaw + εawv2

[0017] Among them, G 犁具 is the weight of the plow, f 综合 is the comprehensive friction coefficient, k is the soil anti-deformation coefficient, a is the tillage depth, w is the tillage width, v is the operating speed of the farm implement, and ε is the coefficient related to the shape of the plow body surface and soil density;

[0018] The agricultural optimal model:

[0019] w1(P 牵引 , v) = P 牵引 - G 农机 fv - 1.2(G 犁具 f 综合 + kaw + εawv 2 )v

[0020] Step 3 includes:

[0021]

[0022] s.t. C4: F 额定 v 额定 + P 牵引 - F 额定 v - F 牵引 v 额定 ≥ 0

[0023] C5: F 牵引 v 额定 - P 牵引 ≥ 0

[0024] C6: F 额定 v - P 牵引 ≥ 0

[0025] C7: P 牵引 ≥ 0

[0026] Solve it through the Lagrange multiplier method and the gradient method for to obtain the optimal traction force of the farm implement itself and the optimal operating speed.

[0027] The farm implement power configuration method described above, where the target operation area S total = Nwvt, where N is the number of farm implements, w is the tillage width, v is the operating speed, and t is the target operation completion time.

[0028] The farm implement power configuration method described above, where the farm implement path planning includes: constructing the minimum circumscribed rectangle R of the target operation area R cr, and its two-dimensional rectangular relative coordinate system; determine the distance between operation parallel lines according to the tillage width w of the agricultural machine; connect the heads and tails of the operation parallel lines according to the steering characteristics of the agricultural machine; use the connected global path point sequence as the operation path.

[0029] The present invention also provides an agricultural machine power configuration system, which includes:

[0030] A path planning module, configured to plan the agricultural machine path for the target actual operation area according to the tillage width of the agricultural machine, obtain the operation path of the agricultural machine, and obtain the target operation area according to the target operation completion time and this operation path;

[0031] A model construction module, configured to obtain the tire rolling resistance of the agricultural machine according to the weight of the agricultural machine and the tire rolling resistance coefficient of the agricultural machine, and obtain the plow resistance according to the weight of the plow towed by the agricultural machine, the friction coefficient, and the operation speed, and construct an agricultural optimal model of the agricultural machine according to this tire rolling resistance, this plow resistance, and the total power composed of the operation speed and the traction force of the agricultural machine itself;

[0032] A constraint solving module, configured to obtain the optimal traction force of the agricultural machine itself and the optimal operation speed of the agricultural optimal model under this constraint condition with the constraint conditions that the actual traction force of the agricultural machine is less than its rated traction force, the operation speed is less than its rated speed, and the actual power is less than its rated power;

[0033] An actual operation module, configured to determine the number of agricultural machines N according to this target operation area, this optimal traction force of the agricultural machine itself, and this optimal operation speed, and the N agricultural machines complete the target operation at this optimal operation speed according to this operation path.

[0034] For the agricultural machine power configuration system described above, the model construction module includes:

[0035] Obtain this tire rolling resistance according to the following formula:

[0036] F 滚动 =G 农机 f

[0037] f = 0.0013h + 0.0988

[0038] Where F 滚动 represents the tire rolling resistance, G 农机 represents the weight of the agricultural machine, f represents the rolling resistance coefficient, and h is the rut depth;

[0039] The plow resistance is expressed as: F 犁具 =G 犁具 f 综合 +kaw+εawv 2

[0040] Where, G犁具 is the weight of the plow, f 综合 is the comprehensive friction coefficient, k is the coefficient of soil resistance to deformation, a is the tillage depth, w is the tillage width, v is the operating speed of the farm implement, and ε is the coefficient related to the shape of the plow body surface and soil density;

[0041] The agricultural optimal model:

[0042] w1(P 牵引 , v) = P 牵引 - G 农机 fv - 1.2(G 犁具 f 综合 + kaw + εawv 2 )v

[0043] The constraint solving module includes:

[0044]

[0045] s.t.C4: F 额定 v 额定 + P 牵引 - F 额定 v - F 牵引 v 额定 ≥ 0

[0046] C5: F 牵引 v 额定 - P 牵引 ≥ 0

[0047] C6: F 额定 v - P 牵引 ≥ 0

[0048] C7: P 牵引 ≥ 0

[0049] By using the Lagrange multiplier method and the gradient method to solve , the optimal traction force of the farm implement itself and the optimal operating speed are obtained.

[0050] In the described farm implement power configuration system, where the target operation area S total = Nwvt, where N is the number of farm implements, w is the tillage width, v is the operating speed, and t is the target operation completion time.

[0051] In the described farm implement power configuration system, the path planning of the farm implement includes: constructing the minimum circumscribed rectangle R cr of the target operation area R and its two-dimensional rectangular relative coordinate system; determining the distance between the operation parallel lines according to the tillage width w of the farm implement; connecting the heads and tails of the operation parallel lines according to the steering characteristics of the farm implement; and using the sequence of global path points after connection as the operation path.

[0052] The present invention also provides a storage medium for storing a program for executing any of the above agricultural machinery power configuration methods.

[0053] The present invention also provides a client for any of the above agricultural machinery power configuration systems.

[0054] As can be seen from the above solutions, the advantages of the present invention are as follows:

[0055] As Figures 1 to 4 shown, by comparing the simulation results after obtaining the solutions, it can be seen that the present invention can increase the operation efficiency of a single agricultural machine by about 30%, while significantly saving the investment in agricultural machinery, effectively reducing the production cost of agricultural mechanization, improving the economic benefits of agricultural production, and providing a theoretical basis for agricultural production units to scientifically and reasonably select and configure agricultural machines. BRIEF DESCRIPTION OF THE DRAWINGS

[0056] Figure 1 is a graph showing the relationship between the rated power and the speed;

[0057] Figure 2 is a graph showing the relationship between the traction force and the speed;

[0058] Figure 3 is a graph showing the relationship between the rated power and the speed under different soil characteristic conditions;

[0059] Figure 4 is a graph showing the relationship between the number of agricultural machines and the time required to complete the operation;

[0060] Figure 5 is the overall flowchart of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0061] For the rotary tillage operation scenario, the present invention gives a general mathematical model by considering the operation area, operation time, speed of the agricultural machinery, and the frictions affecting the power of the agricultural machinery itself, such as plow resistance, tire resistance, operation area, time, speed, etc., and takes the total power of the system as the target to obtain the optimal configuration of agricultural machinery (traction force and speed) under the farm operation conditions, thereby providing theoretical guidance for the configuration of farm agricultural machinery. To achieve the above technical effects, the present invention includes the following key technical points:

[0062] Key point 1: Based on the farm, construct a path planning model to obtain the actual path of the agricultural machinery operation;

[0063] Key point 2: Construct a fusion model of agricultural machinery, soil, and agricultural implements to obtain the optimal power and operation speed corresponding to the agricultural machinery;

[0064] Key point 3: Use the actual agricultural machinery model and actual operation speed of the agricultural machinery for data analysis, and propose the optimal operation speed and operation area for specific types of agricultural machinery.

[0065] To make the above features and effects of the present invention more clearly and understandably described, specific embodiments are hereinafter given and detailed descriptions are provided in conjunction with the accompanying drawings of the specification as follows. Figure 5 The details are as follows.

[0066] Modeling and problem description of the total power per mu system:

[0067] Agricultural machinery operation model. To improve the operation efficiency, it is necessary to plan the path of the operation area. By planning the area and combining the operation time and operation speed, the agricultural machinery configuration can be quantitatively solved, and then the best total power per mu data can be obtained. Specifically, after a given operation block is determined, according to the tillage width parameter, using the path planning algorithm of polygon coverage, a coordinate system is constructed in the polygon area by the method of the minimum circumscribed rectangle, and a sequence of agricultural machinery operation paths is generated. The process is as follows:

[0068] 1. Calculate the minimum circumscribed rectangle R of the polygon area R cr , and construct a two-dimensional rectangular relative coordinate system;

[0069] 2. Determine the distance between operation parallel lines according to the tillage width length w of the intelligent agricultural machinery;

[0070] 3. Select a suitable turning method according to the steering characteristics of the agricultural machinery, and connect the heads and tails of the operation parallel lines;

[0071] 4. Output the sequence of global path points after connection. It is used to construct the relationship between the number of agricultural machinery and the operation time later, where the independent variable t is the number of days, the operation speed v can be obtained from the model, and N is the number of agricultural machinery.

[0072] Plan multiple operation paths and the path of the operation block to obtain the operation route:

[0073] During the standard operation process, to maintain the operation efficiency and save power, the operation speed v of the agricultural machinery is constant, and the tillage width w corresponding to the agricultural machinery tools is also constant. The total operation area S of each agricultural machinery per unit time t satisfies the following relationship:

[0074] S = wvt

[0075] When multiple agricultural machinery cooperate to complete the same operation task, the final effective operation total area R cr can be regarded as the area of the circumscribed rectangle of the operation block:

[0076] R cr = S1 + S2 + S3 +...

[0077] When N agricultural machinery have the same operation time t and driving speed v, the operation area is a multiple of the operation area S of each agricultural machinery. At this time, the total operation area S total is related as follows:

[0078] Stotal = NS = Nwvt

[0079] Agricultural machinery resistance model. During the operation of a tractor, farming implements are often attached behind it for tillage operations. The pulling force at the hook of the suspension device is called the hook traction force. The agricultural machinery carrying the farming implements is moving at a constant speed, and the farming implements connected to the hook are rigidly connected. Therefore, the speed of the farming implements is the same as that of the agricultural machinery. When the agricultural machinery is operating, it is mainly subject to two types of resistance, namely the rolling resistance of the tires and the resistance of the farming implements (plow implements). The expression for the rolling resistance of the agricultural machinery is as follows:

[0080] F 滚动 = G 农机 f(1)

[0081] Where F 滚动 represents the rolling resistance, G 农机 represents the weight of the agricultural machinery, and f represents the rolling resistance coefficient. Here, on soft roads, the rolling resistance coefficient of the tires and the rut depth h show a linear correlation:

[0082] f = 0.0013h + 0.0988 (2)

[0083] Where h is the rut depth generated when the wheels of the agricultural machinery travel in the soil, with the unit of mm.

[0084] The resistance of the plow implement is mainly affected by the weight of the plow implement, the tillage depth, the tillage width, the forward speed of the plow implement, and the soil density. Therefore, the resistance of the plow implement is expressed as:

[0085] F 犁具 = G 犁具 f 综合 + kaw + εawv 2 (3)

[0086] Where, G 犁具 is the weight of the plow implement, f 综合 is the comprehensive friction coefficient, k is the soil lump anti-deformation coefficient, a is the tillage depth, w is the tillage width, v is the travel speed of the farming implement, and ε is a coefficient related to the shape of the plow body surface, soil density, etc.

[0087] System total power model. When the agricultural machinery is moving at a constant speed, the total power of the agricultural machinery at this time is expressed as w, where the traction force of the agricultural machinery itself is expressed as F 牵引 , combined with the above agricultural machinery resistance model, the specific expression of the total power w(F 牵引 ,v) model is as follows:

[0088] w(F 牵引 ,v) = F 牵引 v - F 滚动 v - F 犁具 v (4)

[0089] Formal description of the problem. To optimize the configuration of farm agricultural machinery, it is first necessary to optimize the total power to obtain the optimal speed and optimal traction force under the condition of the minimum total power. Substitute this result into the agricultural optimal model minw(F 牵引 ,v), and then the optimal configuration N of the agricultural machinery can be obtained. N includes the model and number of agricultural machinery. After obtaining the optimal speed through the following formula, use the above total area S total to obtain the number of agricultural machinery N. The optimization objective can be expressed as:

[0090]

[0091] In the formula, b has the same meaning as w representing the tillage width. In formula (5), the constraint condition C1 means that the actual traction force of the agricultural machinery should be less than or equal to the rated (theoretical) traction force of the agricultural machinery; the constraint condition C2 means that the actual speed of the agricultural machinery should be less than or equal to the rated speed of the agricultural machinery; C3 means that the total power of the agricultural machinery is less than the rated total power of the agricultural machinery. In addition, multiply the plow resistance in formula (5) by a coefficient of 1.2. This is because when the agricultural machinery is operating, in order to overcome the working resistance and power consumption of the supporting implements, it should exert sufficient traction force, traction power or power take-off shaft power within the appropriate operating speed range of the agricultural machinery, and in order to adapt to the short-term increase in the resistance of the implements, a reserve of 10% - 20% should be left. However, it can be seen from formula (5) that the optimization objective is a non-convex optimization problem, and it is very difficult to directly obtain the optimal solution through calculation. Therefore, in view of the above problems, the present invention further proposes an optimization algorithm based on linear reconstruction technology to solve this problem.

[0092] Optimization algorithm based on linear reconstruction technology. By converting the non-convex objective function and non-convex constraint variables into convex optimization functions and linear constraints, and then solving them through relevant mathematical methods. Next, the original problem will be transformed.

[0093] Problem transformation based on linear reconstruction technology. First, transform the non-convex problem in formula (5). By observing, it can be seen that formula (5) contains the product term of F 牵引 v, and this product term is non-convex. Therefore, it is necessary to transform the above problem through linear reconstruction technology. Here, a new variable P 牵引 , P 牵引 = F 牵引 v is introduced. Subsequently, formula (5) is rewritten as:

[0094] w1(P 牵引 ,v) = P 牵引 - G 农机 fv - 1.2(G 犁具 f 综合 + kaw + εawv 2 )v (6)

[0095] For the newly added variable P 牵引 and the constraints such as C1, C2, C3, the new constraints can obtain the linear reconstruction factor product constraint condition for P 牵引 :

[0096] {[F 额定 -F 牵引 [v 额定 -v]} LS ≥0

[0097] {F 牵引 [v 额定 -v]} LS ≥0

[0098] {[F 额定 -F 牵引 v} LS ≥0

[0099] {F 牵引 v]} LS ≥0

[0100] The above formula {.} LS represents the linearization step. Therefore, substituting P 牵引 = F 牵引 v, the corresponding constraint variables are expressed as:

[0101] C4: F 额定 v 额定 + P 牵引 - F 额定 v - F 牵引 v 额定 ≥0

[0102] C5: F 牵引 v 额定 - P 牵引 ≥0

[0103] C6: F 额定 v - P 牵引 ≥0

[0104] C7: P 牵引 ≥0

[0105] After the above transformation, the new optimization problem w1 is expressed as:

[0106]

[0107] s.t. C4: F 额定 v 额定 + P 牵引 - F 额定 v - F 牵引 v 额定 ≥0

[0108] C5:F 牵引 v 额定 -P 牵引 ≥0

[0109] C6:F 额定 v - P 牵引 ≥0

[0110] C7:P 牵引 ≥0

[0111] After linear transformation, problem w1 is obtained. This problem is a convex optimization problem, so it can be solved by the Lagrange multiplier method and the gradient method.

[0112] 2.2 Solution of the dual problem

[0113] According to the Hessian matrix, it can be easily proved that equation (7) is a convex function. In addition, conditions C4 - C7 are linear. Therefore, this problem is a convex optimization problem. To solve this problem, the present invention uses the dual method to solve it, and the corresponding dual function is expressed as:

[0114]

[0115] P 牵引 -F 滚动 v - F 犁具 v + α(-F 额定 v 额定 -P 牵引

[0116] +F 额定 v + P 牵引 / v * v 额定 ) + β(-P 牵引 / v * v 额定 +P 牵引 )

[0117] +μ(-F 额定 v + P 牵引 )

[0118] s.t.C4:F 额定 v 额定 +P 牵引 -F 额定 v - P 牵引 / v * v 额定 ≥0

[0119] C5:P 牵引 / v * v 额定 -P 牵引 ≥0

[0120] C6:F 额定 v - P 牵引≥0

[0121] C7:P 牵引 ≥0

[0122] It can be obtained through Lagrange that:

[0123]

[0124] To optimize the outer function, based on the known optimal solution of the inner function, the Lagrange multiplier is optimized by the gradient method, where the Lagrange multiplier is expressed as:

[0125] α(t + 1) = [α(t) - θ(t)(F 额定 v 额定 +P 牵引

[0126] -F 额定 v - P 牵引 / v * v 额定 )] +

[0127] β(t + 1) = [β(t) - θ2(t)(P 牵引 / v * v 额定 -P 牵引 )] +

[0128] μ(t + 1) = [μ(t) - θ3(t)(F 额定 v - P 牵引 )] +

[0129] where t represents the number of iterations, and θ1, θ2, θ3 represent the iteration step sizes.

[0130] The following is a system embodiment corresponding to the above method embodiment. This embodiment can be implemented in cooperation with the above embodiment. The relevant technical details mentioned in the above embodiment are still valid in this embodiment. To avoid repetition, they are not elaborated here. Correspondingly, the relevant technical details mentioned in this embodiment can also be applied to the above embodiment.

[0131] The present invention also proposes an agricultural machinery power configuration system, which includes:

[0132] A path planning module, configured to perform agricultural machinery path planning on the target actual operation area according to the tillage width of the agricultural machinery to obtain the operation path of the agricultural machinery, and obtain the target operation area according to the target operation completion time and this operation path;

[0133] A model construction module, configured to obtain the tire rolling resistance of agricultural machinery according to the weight of the agricultural machinery and the tire rolling resistance coefficient of the agricultural machinery, and obtain the plow resistance according to the weight of the plow towed by the agricultural machinery, the friction coefficient, and the operating speed, and construct an agricultural optimal model of the agricultural machinery according to the tire rolling resistance, the plow resistance, and the total power composed of the operating speed and the traction force of the agricultural machinery itself;

[0134] A constraint solving module, configured to obtain the optimal traction force of the agricultural machinery itself and the optimal operating speed of the agricultural optimal model under the constraint conditions that the actual traction force of the agricultural machinery is less than its rated traction force, the operating speed is less than its rated speed, and the actual power is less than its rated power;

[0135] An actual operation module, configured to determine the number of agricultural machinery N according to the target operation area, the optimal traction force of the agricultural machinery itself, and the optimal operating speed, and the N agricultural machinery complete the target operation at the optimal operating speed according to the operation path.

[0136] The agricultural machinery power configuration system described above, wherein the model construction module includes:

[0137] According to the following formula, obtain the tire rolling resistance:

[0138] F 滚动 =G 农机 f

[0139] f = 0.0013h + 0.0988

[0140] Where F 滚动 represents the tire rolling resistance, G 农机 represents the weight of the agricultural machinery, f represents the rolling resistance coefficient, and h is the rut depth;

[0141] The plow resistance is expressed as: F 犁具 =G 犁具 f 综合 + kaw + εawv 2

[0142] Where, G 犁具 is the weight of the plow, f 综合 is the comprehensive friction coefficient, k is the soil clod anti-deformation coefficient, a is the tillage depth, w is the tillage width, v is the operating speed of the farm implement, and ε is the coefficient related to the shape of the plow body surface and the soil density;

[0143] The agricultural optimal model:

[0144] w1(P 牵引 , v) = P 牵引 - G 农机 fv - 1.2(G 犁具 f 综合 + kaw + εawv 2)v

[0145] The constraint solving module includes:

[0146]

[0147] s.t.C4:F 额定 v 额定 +P 牵引 -F 额定 v - F 牵引 v 额定 ≥0

[0148] C5:F 牵引 v 额定 -P 牵引 ≥0

[0149] C6:F 额定 v - P 牵引 ≥0

[0150] C7:P 牵引 ≥0

[0151] Solve it by the Lagrange multiplier method and the gradient method for to obtain the optimal traction force of the agricultural machinery itself and the optimal operating speed.

[0152] The agricultural machinery power configuration system described above, where the target operation area S total = Nwvt, where N is the number of agricultural machinery, w is the tillage width, v is the operating speed, and t is the target operation completion time.

[0153] The agricultural machinery power configuration system described above, where the path planning of the agricultural machinery includes: constructing the minimum circumscribed rectangle R of the target operation area R cr , and its two-dimensional rectangular relative coordinate system; determining the distance between operation parallel lines according to the tillage width w of the agricultural machinery; connecting the operation parallel lines end to end according to the steering characteristics of the agricultural machinery; using the sequence of global path points after connection as the operation path.

[0154] The present invention also proposes a storage medium for storing a program for executing any one of the agricultural machinery power configuration methods.

[0155] The present invention also proposes a client for any one of the agricultural machinery power configuration systems.

Claims

1. A method for configuring the power of agricultural machinery, characterized in that, Including: Step 1: According to the tillage width of the agricultural machine, plan the path of the agricultural machine for the target actual operation area to obtain the operation path of the agricultural machine, and obtain the target operation area according to the target operation completion time and this operation path; Step 2: Obtain the rolling resistance of the agricultural machine's tires according to the weight of the agricultural machine and the rolling resistance coefficient of the agricultural machine's tires, and obtain the resistance of the plow attached to the agricultural machine according to the weight of the plow, the friction coefficient, and the operation speed. Construct the agricultural optimal model of the agricultural machine according to this tire rolling resistance, this plow resistance, and the total power composed of the operation speed and the self-traction force of the agricultural machine; Step 3: Taking the condition that the actual traction force of the agricultural machine is less than its rated traction force, the operation speed is less than its rated speed, and the actual power is less than its rated power as constraints, obtain the optimal self-traction force and optimal operation speed of the agricultural machine in this agricultural optimal model under this constraint condition; Step 4: Determine the number of agricultural machines N according to the target operation area, the optimal self-traction force of the agricultural machine, and the optimal operation speed. N agricultural machines complete the target operation at this optimal operation speed according to this operation path; Among them, this Step 2 includes: Obtain this tire rolling resistance according to the following formula: F 滚动 = G 农机 f f = 0.0013h + 0.0988 Among them, F 滚动 represents the rolling resistance of the tire, G 农机 represents the weight of the agricultural machinery, f represents the rolling resistance coefficient, and h is the rut depth; The plow resistance is expressed as: F 犁具 = G 犁具 f 综合 + kaw + εawv 2 Among them, G 犁具 is the weight of the plow, f 综合 is the comprehensive friction coefficient, k is the coefficient of soil anti-deformation, a is the tillage depth, w is the tillage width, v is the operating speed of the farm tool, and ε is the coefficient related to the shape of the plow body surface and soil density; This agricultural optimal model: w1(P 牵引 , v) = P 牵引 -G 农机 fv - 1.2(G 犁具 f 综合 + kaw + εawv 2 )v where P 牵引 means the total power of agricultural machinery; This Step 3 includes: s.t.C4:F 额定 v 额定 +P 牵引 -F 额定 v - F 牵引 v 额定 ≥ 0 C5:F 牵引 v 额定 -P 牵引 ≥0 C6:F 额定 v-P 牵引 ≥0 C7:P 牵引 ≥0 where F 额定 is the rated traction force of the agricultural machinery, and v 额定 is the rated speed of the agricultural machinery; by using the Lagrange multiplier method and the gradient method to solve the optimal traction force of the agricultural machinery itself and the optimal operating speed are obtained; The path planning of the agricultural machinery includes: constructing the minimum circumscribed rectangle R of the target operation area R cr , and its two-dimensional rectangular relative coordinate system; determining the distance between operation parallel lines according to the tillage width w of the agricultural machinery; connecting the heads and tails of the operation parallel lines according to the steering characteristics of the agricultural machinery; using the sequence of global path points after connection as the operation path.

2. The agricultural machinery power configuration method according to claim 1, wherein, The target operation area S total = Nwvt, where N is the number of agricultural machines, w is the tillage width, v is the operation speed of the farm implements, and t is the target operation completion time.

3. An agricultural machinery power configuration system, characterized in that, Including: A path planning module, used to plan the path of the agricultural machine for the target actual operation area according to the tillage width of the agricultural machine to obtain the operation path of the agricultural machine, and obtain the target operation area according to the target operation completion time and this operation path; A model construction module, used to obtain the rolling resistance of the agricultural machine's tires according to the weight of the agricultural machine and the rolling resistance coefficient of the agricultural machine's tires, and obtain the resistance of the plow attached to the agricultural machine according to the weight of the plow, the friction coefficient, and the operation speed. Construct the agricultural optimal model of the agricultural machine according to this tire rolling resistance, this plow resistance, and the total power composed of the operation speed and the self-traction force of the agricultural machine; A constraint solving module, used to take the condition that the actual traction force of the agricultural machine is less than its rated traction force, the operation speed is less than its rated speed, and the actual power is less than its rated power as constraints, and obtain the optimal self-traction force and optimal operation speed of the agricultural machine in this agricultural optimal model under this constraint condition; An actual operation module, used to determine the number of agricultural machines N according to the target operation area, the optimal self-traction force of the agricultural machine, and the optimal operation speed. N agricultural machines complete the target operation at this optimal operation speed according to this operation path; Among them, obtain this tire rolling resistance according to the following formula: F 滚动 = G 农机 f f = 0.0013h + 0.0988 Among them, F 滚动 represents the rolling resistance of the tire, G 农机 represents the weight of the agricultural machinery, f represents the rolling resistance coefficient, and h is the rut depth; The plow resistance is expressed as: F 犁具 = G 犁具 f 综合 + kaw + εawv 2 Among them, G 犁具 is the weight of the plow, f 综合 is the comprehensive friction coefficient, k is the coefficient of soil resistance to deformation, a is the tillage depth, w is the tillage width, v is the working speed of the farm tool, and ε is the coefficient related to the shape of the plow body surface and soil density; This agricultural optimal model: w1(P 牵引 ,v) = P 牵引 -G 农机 fv - 1.2(G 犁具 f 综合 + kaw + εawv 2 )v where P 牵引 means the total power of agricultural machinery; This constraint solving module includes: s.t.C4:F 额定 v 额定 +P 牵引 -F 额定 v - F 牵引 v 额定 ≥ 0 C5:F 牵引 v 额定 -P 牵引 ≥0 C6:F 额定 v-P 牵引 ≥0 C7:P 牵引 ≥0 where F 额定 is the rated traction force of agricultural machinery, and v 额定 is the rated speed of agricultural machinery; By using the Lagrange multiplier method and the gradient method to solve the optimal traction force of the agricultural machinery itself and the optimal operating speed are obtained; The path planning of the agricultural machinery includes: constructing the minimum circumscribed rectangle R of the target operation area R cr , and its two-dimensional rectangular relative coordinate system; determining the distance between operation parallel lines according to the tillage width w of the agricultural machinery; connecting the heads and tails of the operation parallel lines according to the steering characteristics of the agricultural machinery; and using the sequence of global path points after connection as the operation path.

4. The agricultural machinery power configuration system according to claim 3, characterized in that, The target operation area S total = Nwvt, where N is the number of agricultural machines, w is the tillage width, v is the operation speed of the agricultural implement, and t is the target operation completion time.

5. A storage medium, characterized in that, A program for storing and executing the agricultural machine power configuration method as described in Claim 1 or 2.

6. A client, characterized in that, A system for implementing the agricultural machine power configuration system as described in Claim 3 or 4.

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