Multifunctional corn threshing and separation device and intelligent control method

Abstract

The present invention relates to a multifunctional corn threshing and separation device and an intelligent control method. The method comprises the following steps: S1, setting a target threshing drum speed N2, a target threshing concave gap D2, and a target guide plate angle C2; ​​S2, real-time detection of the current threshing drum speed N1, the extension of an electric push rod for adjusting the concave gap, and the extension of an electric push rod for adjusting the guide plate angle; obtaining the current threshing concave gap D1 and the current guide plate angle C1; S3, comparing the current threshing drum speed N1, the current threshing concave gap D1, and the current guide plate angle C1 with the set target threshing drum speed N2, the target threshing concave gap D2, and the target guide plate angle C2, respectively; and S4, automatically updating the target threshing drum speed N2, the target threshing concave gap D2, and the target guide plate angle C2 based on the detected threshing power and threshing concave squeezing force in combination with an optimized load feedback control algorithm.

Description

Technical Field

[0001] The present invention belongs to the field of intelligent agricultural equipment, and in particular relates to a multifunctional corn threshing and separation device and an intelligent control method. Background Art

[0002] Corn is the largest grain crop in my country. With the continuous expansion of the planting scale, the country has put forward new requirements for high-efficiency and low-breakage harvesting technology for large-feed corn harvesters, and mechanized direct corn grain harvesting has become an inevitable trend in industrial development. However, due to the generally high moisture content of corn grains during harvest in my country (generally above 25%), the mechanized harvesting has a high grain breakage rate, with an average grain breakage rate of about 10%, far exceeding the relevant standard requirement of 5%. The high grain breakage rate has become a major bottleneck restricting the mechanized direct corn grain harvesting technology in my country. The threshing and separation device is the core component of the direct grain harvesting corn harvester, and the low adaptability of the threshing and separation device is an important factor in the occurrence of grain breakage. Under the background of "reducing losses is increasing production", the research and development of low-breakage and high-efficiency threshing and separation technology and devices for large-feed corn harvesters can effectively improve the quality and yield of corn harvesting, and is an effective way to solve the high loss rate of direct corn grain harvesting.

[0003] Compared with foreign countries, my country's corn harvester research and development started later and has long suffered from fatal shortcomings such as insufficient theory, unrealistic technology, and inadequate design basis. Key components are still mainly designed based on experience and imitation, which in turn leads to problems such as irrational harvester research and development, non-standard manufacturing quality control, and unreliable operation and application. Currently, domestic companies are mainly conducting reliability and lightweight research, and universities and research institutions are conducting basic theory and operation performance optimization research. However, overall, a reliable design theory and basis have not yet been formed. In terms of research on the mechanism of corn threshing and breakage, reliability design and theoretical analysis of key components, threshing performance testing, and intelligent control of key components, they have not yet broken the technological monopoly of foreign countries. For example, Chinese invention patent application CN114711016A, "A control method for a multi-parameter joint control system of a combine harvester", can adjust the threshing drum speed, guide plate angle, and threshing gap, but cannot detect the threshing concave extrusion pressure and threshing power in real time, and fails to achieve optimized load feedback control; Chinese invention patent application CN115777330A, "A method for detecting the feeding amount of a grain combine harvester", indirectly judges the feeding amount by detecting the bottom pressure and speed of the chain rake conveyor, but because the conveyor is located at the front end of the threshing device, the method has a certain degree of advancement and cannot accurately reflect the feeding amount of the fruit ears inside the threshing drum in real time. Summary of the Invention

[0004] In response to the above technical problems, the purpose of the present invention is to provide a multifunctional corn threshing and separation device and an intelligent control method, which combines an optimized load feedback control algorithm to realize intelligent, efficient, low-loss and low-power threshing of corn ears and monitoring and control of different threshing operating parameters.

[0005] In order to achieve the above object, the present invention provides the following technical solutions:

[0006] A multifunctional corn threshing and separation device includes a threshing chamber 1, a threshing drum 2, an intelligent control system 3 and a frame 4; the threshing chamber 1 and the threshing drum 2 are installed on the frame 4 with the front lower and the rear higher; the corn threshing and separation device includes a speed sensor 411 for detecting the rotational speed of the threshing drum 2.

[0007] The threshing chamber 1 includes a feeding hopper 101, an angle adjustment rocker arm 102, a support rod 103, a gap adjustment hinge plate 104, a concave gap adjustment electric push rod 105, a gap adjustment support plate 106, an angle adjustment connecting rod 107, an arc-shaped support rib 108, a guide plate 109, a guide plate angle adjustment electric push rod 110, a guide plate angle measurement sensor 111, a rear end baffle 112, an arc-shaped baffle 113, an axial support plate 114, a separation concave plate 115, a threshing concave connecting rod 116, a threshing concave displacement sensor 117, a tension sensor 118, a threshing concave plate 119, a bottom conical baffle 120, a front end baffle 121, a suspension rod 122, a suspension rod 123, an angle adjustment power rod 124, a bearing seat mounting plate 125, a bearing seat 126, a curved top plate 127, a rear end flange 128 and a front end flange 129.

[0008] The front end of the arc-shaped top plate 127 at the top and the front ends of the two axial support plates 114 on both sides are fixed to the front end flange 129, and the rear end of the arc-shaped top plate 127 and the rear ends of the two axial support plates 114 are fixed to the rear end flange 128, forming the main support structure of the threshing chamber 1; the feeding shell composed of the feeding hopper 101, the bottom conical baffle 120 and the front end baffle 121 is fixed to the front end flange 129; the rear end baffle 112 is fixed to the rear end flange 128; the separation concave plate 115 is fixed to the rear half of the two axial support plates 114.

[0009] A plurality of arc-shaped support ribs 108 are fixed between the arc-shaped top plate 127 and the two axial support plates 114, and an arc-shaped baffle 113 is fixed between two adjacent arc-shaped support ribs 108, between the arc-shaped support rib 108 and the front end flange 129, and between the arc-shaped support rib 108 and the rear end flange 128; the arc-shaped baffle 113 is made of transparent acrylic material, which can observe the corn threshing process in real time while reducing the overall weight of the device.

[0010] Multiple suspension rods 122 are fixed to the front half of the axial support plate 114 on the right side, and a suspension rod 123 parallel to the axial support plate 114 is fixed to the multiple suspension rods 122 and is located below the axial support plate 114; two gap adjustment support plates 106 are fixed to the two arc-shaped support ribs 108 located in the front half of the left side, and a support rod 103 parallel to the axial support plate 114 is fixed to the two gap adjustment support plates 106; the push rod end of the concave plate gap adjustment electric push rod 105 is hinged to the gap adjustment hinge plate 104 fixed to the support rod 103, and the cylinder end of the concave plate gap adjustment electric push rod 105 is hinged to the axial support plate 114 on the left side; the upper ends of the two threshing concave connecting rods 116 are hinged to the support rod 103, and the lower ends are hinged to the left side of the threshing concave 119; the right side of the threshing concave 119 is rotatably connected to the suspension rod 123.

[0011] The threshing concave plate displacement sensor 117 is installed inside the concave plate gap adjustment electric push rod 105, and indirectly measures the concave plate gap size by detecting the extension and contraction amount of the concave plate gap adjustment electric push rod 105.

[0012] The threshing concave connecting rod 116 adopts a two-section structure, and the tension sensor 118 is installed in the middle position of the threshing concave connecting rod 116 for detecting the squeezing force on the threshing concave 119 during the threshing process in real time.

[0013] The threshing concave 119 is divided into a first-stage threshing concave, a second-stage threshing concave and a third-stage threshing concave from front to back; wherein, the threshing rods of the second-stage threshing concave and the third-stage threshing concave are arranged along the axis of the threshing chamber 1, and the threshing rod of the first-stage threshing concave is arranged obliquely, with a certain angle between it and the axis of the threshing chamber 1, which helps to move the ear flow and prevent blockage.

[0014] A plurality of deflectors 109 are arranged at equal intervals on the inner surface of the arc-shaped baffle 113 along the axis of the threshing chamber 1. A plurality of bearing seats 126 corresponding to each deflector 109 are mounted on the arc-shaped top plate 127 via a bearing seat mounting plate 125. A rotating shaft is provided at the top of each deflector 109. The rotating shaft passes through the arc-shaped baffle 113 and is mounted within the bearing seat 126, and is fixedly connected to an angle adjustment rocker 102. The plurality of angle adjustment rockers 102 are hingedly connected to the angle adjustment connecting rod 107 in parallel. The rear end of the deflector angle adjustment electric push rod 110 is hingedly connected to the arc-shaped top plate 127, and the front end is hingedly connected to the angle adjustment power rod 124, which is hingedly connected to the rear end of the angle adjustment connecting rod 107. The deflector angle measurement sensor 111 is installed inside the deflector angle adjustment electric push rod 110 and indirectly measures the deflector angle by detecting the extension and contraction of the deflector angle adjustment electric push rod 110.

[0015] The intelligent control system 3 includes a host computer, a PLC controller, a frequency converter, a concave plate relay switch and a guide plate relay switch; the host computer is connected to the PLC controller; the PLC controller is respectively connected to the frequency converter, the concave plate relay switch, the guide plate relay switch, the speed sensor 411, the threshing concave displacement sensor 117, the tension sensor 118 and the guide plate angle measurement sensor 111 to obtain the threshing power, threshing drum speed, threshing concave gap, guide plate angle and threshing concave extrusion pressure of the multifunctional corn threshing and separation device; the frequency converter is connected to the motor 409; the concave plate relay switch is connected to the concave plate gap adjustment electric push rod 105; the guide plate relay switch is connected to the guide plate angle adjustment electric push rod 110.

[0016] The frame 4 includes a right-angle commutator 401, a rear support plate 402, a pin 403, a cleaning screen 404, a front support plate 405, a hinge plate 406, a material receiving plate 407, a motor base 408, a motor 409 and a transmission belt 410;

[0017] A pair of hinged plates 406 are fixed to the front and rear columns of the frame 4; the front end support plate 405 and the rear end support plate 402 are respectively hinged to the hinged plates 406 through pins 403, and the frame 4 supports the threshing chamber 1 and the threshing drum 2 for threshing operation through the front end support plate 405 and the rear end support plate 402; the motor 409 is installed at the rear end of the frame 4 through the motor seat 408, and the motor 409 transmits power to the motor fixed to the rear end support plate through the transmission belt 410 The right-angle commutator 401 on 402 transmits power to the threshing drum 2 by reducing speed and increasing torque; the speed sensor 411 is installed on the right-angle commutator 401, which is used to detect the rotation speed of the threshing drum 2 and upload it to the host computer of the intelligent control system 3 for display and storage; the cleaning screen 404 and the receiving plate 407 are arranged in sequence from top to bottom below the threshing chamber 1, and the threshed corn kernels are screened by the cleaning screen 404 and fall into the receiving plate 407 for collection.

[0018] The inclination angle between the axis of the threshing chamber 1 and the threshing drum 2 and the horizontal plane is 8°.

[0019] The guide plate 109 is a streamlined hollow structure.

[0020] The threshing drum 2 includes a front shaft 201, a spiral blade 202, a conical drum 203, a cylindrical drum 204, a rib-type threshing element 205, a spike-type threshing element 206, a threshing element mounting seat 207, a grass discharge plate 208 and a rear shaft 209;

[0021] The conical drum 203 and the cylindrical drum 204 are fixedly connected front to back and are installed in the threshing chamber 1 via the front shaft 201 and the rear shaft 209. The rear shaft 209 is connected to the right-angle commutator 401. The spiral blades 202 are arranged on the conical drum 203 to form the feeding section of the threshing drum 2; the ribbed threshing elements 205, the spiked threshing elements 206 and the grass discharge plate 208 are arranged on the cylindrical drum 204 from front to back, respectively forming the threshing section, separation section and debris discharge section of the threshing drum 2; wherein the spiked threshing elements 206 are fixed to the cylindrical drum 204 via the threshing element mounting seat 207.

[0022] The intelligent control system 3 has a human-computer interaction interface, including a login interface, an operation interface, a curve display and a storage interface.

[0023] An intelligent control method for a multifunctional corn threshing and separation device comprises the following steps:

[0024] S1, setting target threshing drum speed N2, target threshing concave gap D2 and target guide plate angle C2;

[0025] S2, using the speed sensor 411, the threshing concave displacement sensor 117 and the guide plate angle measurement sensor 111 to respectively detect in real time the current threshing drum speed N1 of the threshing drum 2, the elongation of the concave gap adjustment electric push rod 105 and the guide plate angle adjustment electric push rod 110; through calibration tests, respectively obtain the relationship between the elongation of the concave gap adjustment electric push rod 105 and the guide plate angle adjustment electric push rod 110 and the threshing concave gap D and the guide plate angle C, and then convert the current threshing concave gap D1 and the current guide plate angle C1;

[0026] S3, comparing the current threshing drum speed N1, the current threshing concave gap D1 and the current guide plate angle C1 with the set target threshing drum speed N2, the target threshing concave gap D2 and the target guide plate angle C2 respectively;

[0027] S3.1. If the current threshing drum speed N1 is not equal to the target threshing drum speed N2, the PLC controller controls the output frequency of the frequency converter to increase or decrease the speed of the motor 409; if the current threshing drum speed N1 is equal to the target threshing drum speed N2, the speed regulation is stopped; the PID algorithm is added to the speed regulation process to improve the robustness of the speed regulation.

[0028] S3.2. If the current threshing concave gap D1 is greater than the target threshing concave gap D2, the PLC controller controls the concave gap adjustment electric push rod 105 to retract until the current threshing concave gap D1 equals the target threshing concave gap D2. If the current threshing concave gap D1 is less than the target threshing concave gap D2, the PLC controller controls the concave gap adjustment electric push rod 105 to extend until the current threshing concave gap D1 equals the target threshing concave gap D2.

[0029] S3.3. If the current deflector angle C1 is greater than the target deflector angle C2, the PLC controller controls the deflector angle adjustment electric push rod 110 to retract until the current deflector angle C1 equals the target deflector angle C2. Conversely, if the current deflector angle C1 is less than the target deflector angle C2, the PLC controls the deflector angle adjustment electric push rod 110 to extend until the current deflector angle C1 equals the target deflector angle C2.

[0030] S4, the intelligent control system 3 detects the threshing power and the threshing concave extrusion force in real time through the frequency converter and the tension sensor 118, and displays and stores them on the human-computer interaction interface;

[0031] Furthermore, in step S4, according to the detected threshing power and threshing concave extrusion force, the target threshing drum speed N2, the target threshing concave gap D2, and the target guide plate angle C2 are automatically updated in combination with the optimized load feedback control algorithm, and steps S2 to S3 are repeated, so that when the feed amount is constant, the threshing power and the threshing concave extrusion force are minimized while satisfying the grain breakage rate and loss rate. Specifically, the steps include:

[0032] S4.1. Establish relationship models between threshing power, threshing concave extrusion force, and feed rate, respectively, and use threshing power and threshing concave extrusion force as input parameters to characterize the size of the feed rate;

[0033] S4.2. Set the feed rate to three ranges: large, medium, and small, and simulate the high-speed, medium-speed, and low-speed working modes of the corn combine harvester. Establish relationship models between the three experimental factors, namely, the threshing drum speed N, the threshing concave gap D, and the guide plate angle C, and the four experimental indicators, namely, the threshing power, the threshing concave extrusion pressure, the grain breakage rate, and the unthreshed rate, under the three feed rates. Optimize the working parameters of the corn threshing and separation device with the minimum threshing power, the minimum threshing concave extrusion pressure, the minimum grain breakage rate, and the minimum unthreshed rate as constraints, and obtain three sets of optimal solutions X(N) under different feed rates. X 、D X 、C X )、Y(N Y 、D Y 、C Y )、Z(N Z、D Z 、C Z );

[0034] S4.3, according to the detected threshing concave extrusion force and threshing power, the feeding amount is judged, and the intelligent control system 3 outputs the optimal parameter X (N) under the corresponding feeding amount. X 、D X 、C X ) or Y(N Y 、D Y 、C Y ) or Z(N Z 、D Z 、C Z ) and use them as the new target threshing drum speed N2, target threshing concave gap D2, and target guide plate angle C2. Ultimately, energy conservation and consumption reduction are achieved while ensuring the grain breakage rate and loss rate.

[0035] In the step S3, the threshold range near the target threshing drum speed N2 is set to ±5 r / min; the threshold range near the target threshing concave gap D2 is set to ±1 mm; and the threshold range near the target guide plate angle C2 is set to ±1 mm.

[0036] The optimal output parameters of the overlapping parts between the relational models are found through experiments, and the relational models are merged into a monotonic continuity model to ensure the uniqueness of the model values ​​and prevent the parameters of the intelligent control system 3 from conflicting.

[0037] The correlation analysis of the threshing concave extrusion force and the threshing power is carried out to explore the relationship between the threshing concave extrusion force and the threshing power, and then the feeding amount can be judged only by detecting the threshing concave extrusion force during the threshing process, and the power consumption can be indirectly reflected.

[0038] Compared with the prior art, the present invention has the following beneficial effects:

[0039] The present invention proposes a multifunctional corn threshing and separation device and intelligent control method, combined with an optimized load feedback control algorithm, to achieve efficient, low-loss, and low-power threshing of corn ears, as well as monitoring and intelligent control of various threshing operating parameters. The top of the corn threshing and separation device features a transparent, visual design, allowing real-time observation of the mechanical interaction between the corn ears and the threshing device during the threshing process, facilitating research into the corn threshing mechanism and the kinematic and dynamic characteristics of the corn ears. The intelligent control system features a user-friendly human-computer interface, facilitating monitoring and control of the threshing device's operating parameters. The present invention proposes a method for indirectly determining the feed rate by detecting the threshing concave pressure and threshing power. Compared to traditional feed rate detection methods (such as detecting the pressure of the bridge conveyor and the torque of the threshing drum), the present method is easier to implement and has strong real-time performance. The present invention establishes a segmented fusion correlation model between the feed rate and parameters such as the threshing concave pressure and threshing power. By detecting the feed rate, the optimal operating parameters are automatically matched. This method achieves energy conservation and consumption reduction while ensuring the kernel breakage and loss rates. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] Figure 1 This is a schematic structural diagram of the multifunctional corn threshing and separation device of the present invention;

[0041] Figure 2 It is a structural diagram of the rack 4;

[0042] Figure 3a-Figure 3b It is a structural schematic diagram of the threshing chamber 1;

[0043] Figure 4 It is a structural schematic diagram of the threshing drum 2;

[0044] Figure 5 Schematic diagram of the intelligent control system 3;

[0045] Figure 6 This is a flow chart of an intelligent control method for a multifunctional corn threshing and separation device according to one embodiment of the present invention;

[0046] Figure 7 This is a flow chart of an intelligent control method for a multifunctional corn threshing and separation device according to another embodiment of the present invention;

[0047] Figure 8 This is a flow chart of the load feedback control algorithm optimized in the automatic control mode of the present invention.

[0048] The accompanying drawings are as follows:

[0049] 1 threshing room

[0050] 101 Feeding hopper 102 Angle adjustment swing rod

[0051] 103 support rod 104 gap adjustment hinge plate

[0052] 105 Concave plate gap adjustment electric push rod 106 Gap adjustment support plate

[0053] 107 Angle adjustment link 108 Arc support plate

[0054] 109 deflector 110 deflector angle adjustment electric push rod

[0055] 111 deflector angle measurement sensor 112 rear end baffle

[0056] 113 arc baffle 114 axial support plate

[0057] 115 separation concave plate 116 threshing concave plate connecting rod

[0058] 117 threshing concave displacement sensor 118 tension sensor

[0059] 119 threshing concave plate 120 bottom conical baffle

[0060] 121 front baffle 122 boom

[0061] 123 Suspension rod 124 Angle adjustment power rod

[0062] 125 Bearing seat mounting plate 126 Bearing seat

[0063] 127 curved top plate 128 rear end flange

[0064] 129 front flange

[0065] 2 threshing drum

[0066] 201 Front shaft 202 Spiral blade

[0067] 203 Conical drum 204 Cylindrical drum

[0068] 205 ribbed threshing element 206 spiked threshing element

[0069] 207 threshing element mounting seat 208 grass discharge board

[0070] 209 rear end shaft

[0071] 3 Intelligent control system

[0072] 4 racks

[0073] 401 right angle commutator 402 rear end support plate

[0074] 403 Pin 404 Cleaning Screen

[0075] 405 front support plate 406 hinge plate

[0076] 407 splicing plate 408 motor seat

[0077] 409 motor 410 transmission belt

[0078] 411 speed sensor DETAILED DESCRIPTION

[0079] The present invention will be further described below with reference to the accompanying drawings and examples.

[0080] like Figure 1 As shown, a multifunctional corn threshing and separation device includes a threshing chamber 1, a threshing drum 2, an intelligent control system 3 and a frame 4; the threshing chamber 1 and the threshing drum 2 are installed on the frame 4.

[0081] like Figure 2 As shown, the frame 4 includes a right-angle commutator 401, a rear end support plate 402, a pin shaft 403, a cleaning screen 404, a front end support plate 405, a hinge plate 406, a material receiving plate 407, a motor base 408, a motor 409, a transmission belt 410 and a speed sensor 411.

[0082] A pair of hinged plates 406 are fixed to the front and rear columns of the frame 4. The front and rear support plates 405 and 402 are hinged to the hinged plates 406 via pins 403, with the front lower and rear higher angles, respectively. The frame 4 supports the threshing chamber 1 and threshing drum 2 via the front and rear support plates 405 and 402, respectively, during threshing operations. The axes of the threshing chamber 1 and threshing drum 2 are tilted at an angle of 8° to the horizontal. The motor 409 is mounted at the rear end of the frame 4 via a motor mount 408. The motor 409 transmits power via a transmission belt 410 to a right-angle commutator 401 fixed to the rear support plate 402. The right-angle commutator 401 then transmits power to the threshing drum 2 by reducing speed and increasing torque. A speed sensor 411 is mounted on the right-angle commutator 401 to detect the rotational speed of the threshing drum 2 and upload the data to the host computer of the intelligent control system 3 for display and storage. The cleaning screen 404 and the receiving plate 407 are arranged in sequence from top to bottom below the threshing chamber 1. After the threshing is completed, the corn kernels are screened by the cleaning screen 404 and fall into the receiving plate 407 for collection.

[0083] like Figure 3a and Figure 3bAs shown, the threshing chamber 1 includes a feeding hopper 101, an angle adjustment rocker arm 102, a support rod 103, a gap adjustment hinge plate 104, a concave gap adjustment electric push rod 105, a gap adjustment support plate 106, an angle adjustment connecting rod 107, an arc-shaped support rib 108, a guide plate 109, a guide plate angle adjustment electric push rod 110, a guide plate angle measurement sensor 111, a rear end baffle 112, an arc-shaped baffle 113, an axial support plate 114, a separation concave plate 115, a threshing concave connecting rod 116, a threshing concave displacement sensor 117, a tension sensor 118, a threshing concave plate 119, a bottom conical baffle 120, a front end baffle 121, a suspension rod 122, a suspension rod 123, an angle adjustment power rod 124, a bearing seat mounting plate 125, a bearing seat 126, a arc-shaped top plate 127, a rear end flange 128 and a front end flange 129.

[0084] The front end of the arc-shaped top plate 127 at the top and the front ends of the two axial support plates 114 on both sides are fixed to the front end flange 129, and the rear end of the arc-shaped top plate 127 and the rear ends of the two axial support plates 114 are fixed to the rear end flange 128, forming the main support structure of the threshing chamber 1; the feeding shell composed of the feeding hopper 101, the bottom conical baffle 120 and the front end baffle 121 is fixed to the front end flange 129; the rear end baffle 112 is fixed to the rear end flange 128; the separation concave plate 115 is fixed to the rear half of the two axial support plates 114.

[0085] A plurality of curved support ribs 108 are fixedly connected between the curved top plate 127 and the two axial support plates 114. Curved baffles 113 are fixedly connected between adjacent curved support ribs 108, between the curved support ribs 108 and the front flange 129, and between the curved support ribs 108 and the rear flange 128. These curved baffles 113 are made of transparent acrylic, allowing for real-time observation of the corn threshing process while reducing the overall weight of the device.

[0086] Multiple suspension rods 122 are fixed to the front half of the axial support plate 114 on the right side, and a suspension rod 123 parallel to the axial support plate 114 is fixed to the multiple suspension rods 122 and is located below the axial support plate 114; two gap adjustment support plates 106 are fixed to the two arc-shaped support ribs 108 located in the front half of the left side, and a support rod 103 parallel to the axial support plate 114 is fixed to the two gap adjustment support plates 106; the push rod end of the concave plate gap adjustment electric push rod 105 is hinged to the gap adjustment hinge plate 104 fixed to the support rod 103, and the cylinder end of the concave plate gap adjustment electric push rod 105 is hinged to the axial support plate 114 on the left side; the upper ends of the two threshing concave connecting rods 116 are hinged to the support rod 103, and the lower ends are hinged to the left side of the threshing concave 119; the right side of the threshing concave 119 is rotatably connected to the suspension rod 123.

[0087] The threshing concave plate displacement sensor 117 is installed inside the concave plate gap adjustment electric push rod 105, and indirectly measures the concave plate gap size by detecting the extension and contraction amount of the concave plate gap adjustment electric push rod 105.

[0088] The threshing concave connecting rod 116 adopts a two-section structure, and the tension sensor 118 is installed in the middle position of the threshing concave connecting rod 116 for detecting the squeezing force on the threshing concave 119 during the threshing process in real time.

[0089] The threshing concave 119 is divided into a first-stage threshing concave, a second-stage threshing concave and a third-stage threshing concave from front to back; wherein, the threshing rods of the second-stage threshing concave and the third-stage threshing concave are arranged along the axis of the threshing chamber 1, and the threshing rod of the first-stage threshing concave is arranged obliquely, with a certain angle between it and the axis of the threshing chamber 1, which helps to move the ear flow and prevent blockage.

[0090] A plurality of deflectors 109 are arranged at equal intervals on the inner surface of the arc-shaped baffle 113 along the axis of the threshing chamber 1. A plurality of bearing seats 126 corresponding to each deflector 109 are mounted on the arc-shaped top plate 127 via a bearing seat mounting plate 125. A rotating shaft is provided at the top of each deflector 109. The rotating shaft passes through the arc-shaped baffle 113 and is mounted within the bearing seat 126, and is fixedly connected to an angle adjustment rocker 102. The plurality of angle adjustment rockers 102 are hingedly connected to the angle adjustment connecting rod 107 in parallel. The rear end of the deflector angle adjustment electric push rod 110 is hingedly connected to the arc-shaped top plate 127, and the front end is hingedly connected to the angle adjustment power rod 124, which is hingedly connected to the rear end of the angle adjustment connecting rod 107. The deflector angle measurement sensor 111 is installed inside the deflector angle adjustment electric push rod 110 and indirectly measures the deflector angle by detecting the extension and contraction of the deflector angle adjustment electric push rod 110.

[0091] The guide plate 109 is a streamlined hollow structure, which is light in weight and has a better guide effect.

[0092] like Figure 4 As shown, the threshing drum 2 includes a front end shaft 201, spiral blades 202, a conical drum 203, a cylindrical drum 204, a corrugated rod threshing element 205, a spiked tooth threshing element 206, a threshing element mounting seat 207, a grass discharge plate 208 and a rear end shaft 209.

[0093] The conical drum 203 and the cylindrical drum 204 are fixedly connected front to back and are installed in the threshing chamber 1 via the front shaft 201 and the rear shaft 209. The rear shaft 209 is connected to the right-angle commutator 401. The spiral blades 202 are arranged on the conical drum 203 to form the feeding section of the threshing drum 2; the ribbed threshing elements 205, the spiked threshing elements 206 and the grass discharge plate 208 are arranged on the cylindrical drum 204 from front to back, respectively forming the threshing section, separation section and debris discharge section of the threshing drum 2; wherein the spiked threshing elements 206 are fixed to the cylindrical drum 204 via the threshing element mounting seat 207. First, the spiral blades 202 of the feeding section rotate to transport the corn ears backward to the threshing section; then the ribbed threshing elements 205 of the threshing section thresh the corn ears. At this stage, the kernels that are easy to fall off are separated from the core shaft and fall to the cleaning screen, while the kernels that are difficult to thresh are transported backward to the separation section; the spike-tooth threshing elements 206 of the separation section further separate the kernels from the core shaft, and at the same time further thresh the corn ears that are difficult to thresh, and transport the core shaft, husks and other debris to the waste discharge section; finally, the corn core shaft, husks and other debris are discharged through the grass discharge plate 208 of the waste discharge section, completing the entire corn ear threshing and separation process.

[0094] like Figure 5 As shown, the intelligent control system 3 includes a host computer, a PLC controller, a frequency converter, a concave plate relay switch and a guide plate relay switch; the host computer is connected to the PLC controller; the PLC controller is respectively connected to the frequency converter, the concave plate relay switch, the guide plate relay switch, the speed sensor 411, the threshing concave displacement sensor 117, the tension sensor 118 and the guide plate angle measurement sensor 111 to obtain the threshing power, threshing drum speed, threshing concave gap, guide plate angle and threshing concave extrusion pressure of the multifunctional corn threshing and separation device; the frequency converter is connected to the motor 409; the concave plate relay switch is connected to the concave plate gap adjustment electric push rod 105; the guide plate relay switch is connected to the guide plate angle adjustment electric push rod 110.

[0095] The intelligent control system 3 monitors and controls the operating parameters of the corn threshing and separation device in real time, including threshing power, threshing drum speed, threshing concave gap, guide plate angle, and threshing concave extrusion force. The system utilizes modular programming, allowing the control processes for each operating parameter to be independent and run in parallel, resulting in high operational efficiency. The system also features a robust human-computer interface, including a login screen, an operation screen, a curve display, and a storage screen. The login screen primarily displays the overall structure of the corn threshing and separation device, along with key information such as the system name and time. This screen only features an interface toggle button in the lower right corner; it cannot be used to control the corn threshing and separation device, preventing operator error and malfunction.

[0096] The operating interface mainly has two functions: parameter display and parameter setting. At the bottom of the interface, there are flowing subtitles and interface switching buttons that read "Welcome to the Intelligent Control System for Corn Threshing and Separation Devices." The system time is displayed in real time in the lower left corner. The parameter display function mainly displays operating parameters such as threshing drum speed, threshing power, and threshing concave extrusion pressure in real time in the form of a dashboard. At the same time, a real-time curve viewing and storage function is set to facilitate the operator to observe the operating status of the machine. The two parameters of guide plate angle and concave plate gap are displayed in the form of a numerical display box in the upper right corner of the interface. The parameter setting function is mainly for manual control mode, including the regulation of three parameters: threshing drum speed, threshing concave plate gap, and guide plate angle. The operator can set the parameter size through slider adjustment and keyboard input. After the setting is completed, click the start button to control the corresponding mechanism to move to the target position. Click the stop button during the adjustment process to control the corresponding mechanism to stop immediately. In the automatic control mode, the control system combines the optimized load feedback control algorithm to automatically adjust the three parameters of threshing drum speed, guide plate angle and concave plate gap according to the two parameters of threshing power and threshing concave plate extrusion pressure, thereby reducing threshing energy consumption and improving the working performance of the corn threshing and separation device.

[0097] The curve display and storage interface is mainly used to display and save the real-time change curves of the three parameters of threshing power, threshing drum speed and threshing concave plate extrusion force, and has the function of curve playback.

[0098] like Figure 6 and Figure 7 As shown, an intelligent control method for a multifunctional corn threshing and separation device includes the following steps:

[0099] S1, setting target threshing drum speed N2, target threshing concave gap D2 and target guide plate angle C2;

[0100] S2, using the speed sensor 411, the threshing concave displacement sensor 117 and the guide plate angle measurement sensor 111 to respectively detect in real time the current threshing drum speed N1 of the threshing drum 2, the elongation of the concave gap adjustment electric push rod 105 and the guide plate angle adjustment electric push rod 110; through calibration tests, respectively obtain the relationship between the elongation of the concave gap adjustment electric push rod 105 and the guide plate angle adjustment electric push rod 110 and the threshing concave gap D and the guide plate angle C, and then convert the current threshing concave gap D1 and the current guide plate angle C1;

[0101] S3, comparing the current threshing drum speed N1, the current threshing concave gap D1 and the current guide plate angle C1 with the set target threshing drum speed N2, the target threshing concave gap D2 and the target guide plate angle C2 respectively;

[0102] S3.1. If the current threshing drum speed N1 is not equal to the target threshing drum speed N2, the PLC controller controls the output frequency of the frequency converter to increase or decrease the speed of the motor 409; if the current threshing drum speed N1 is equal to the target threshing drum speed N2, the speed regulation is stopped; the PID algorithm is added to the speed regulation process to improve the robustness of the speed regulation.

[0103] In order to improve the operational stability of the threshing drum 2, the present invention sets a threshold range of ±5 r / min near the target threshing drum speed N2 value.

[0104] S3.2. If the current threshing concave gap D1 is greater than the target threshing concave gap D2, the PLC controller controls the concave gap adjustment electric push rod 105 to retract until the current threshing concave gap D1 equals the target threshing concave gap D2. If the current threshing concave gap D1 is less than the target threshing concave gap D2, the PLC controller controls the concave gap adjustment electric push rod 105 to extend until the current threshing concave gap D1 equals the target threshing concave gap D2.

[0105] In order to prevent the electric push rod 105 for adjusting the concave plate gap from oscillating at the edge near the target value, the present invention sets a threshold range of ±1 mm near the target threshing concave plate gap D2 value.

[0106] S3.3. If the current deflector angle C1 is greater than the target deflector angle C2, the PLC controller controls the deflector angle adjustment electric push rod 110 to retract until the current deflector angle C1 equals the target deflector angle C2. Conversely, if the current deflector angle C1 is less than the target deflector angle C2, the PLC controls the deflector angle adjustment electric push rod 110 to extend until the current deflector angle C1 equals the target deflector angle C2.

[0107] In order to prevent the electric push rod 110 for adjusting the deflector angle from oscillating at the edge near the target value, the present invention sets a threshold range of ±1 mm near the target deflector angle C2 value.

[0108] S4. The intelligent control system 3 detects the threshing power and the threshing concave extrusion force in real time through the frequency converter and the tension sensor 118, and displays and stores them on the human-computer interaction interface.

[0109] Furthermore, in step S4, according to the detected threshing power and threshing concave extrusion force, the target threshing drum speed N2, the target threshing concave gap D2 and the target guide plate angle C2 are automatically updated in combination with the optimized load feedback control algorithm, and steps S2 to S3 are repeated, so that when the feed amount is constant, the threshing power and the threshing concave extrusion force are minimized while satisfying the grain breakage rate and loss rate, thereby achieving the purpose of energy saving and consumption reduction; Figure 8 As shown, the specific steps include:

[0110] S4.1. Establish relationship models between threshing power, threshing concave extrusion force, and feed rate, respectively, and use threshing power and threshing concave extrusion force as input parameters to characterize the size of the feed rate;

[0111] S4.2. Set the feed rate to three ranges: large, medium, and small, and simulate the high-speed, medium-speed, and low-speed working modes of the corn combine harvester. Establish relationship models between the three experimental factors, namely, the threshing drum speed N, the threshing concave gap D, and the guide plate angle C, and the four experimental indicators, namely, the threshing power, the threshing concave extrusion pressure, the grain breakage rate, and the unthreshed rate, under the three feed rates. Optimize the working parameters of the corn threshing and separation device with the minimum threshing power, the minimum threshing concave extrusion pressure, the minimum grain breakage rate, and the minimum unthreshed rate as constraints, and obtain three sets of optimal solutions X(N) under different feed rates. X 、D X 、C X )、Y(N Y 、D Y 、C Y )、Z(N Z 、D Z 、C Z );

[0112] S4.3, according to the detected threshing concave extrusion force and threshing power, the feeding amount is judged, and the intelligent control system 3 outputs the optimal parameter X (N) under the corresponding feeding amount. X 、D X 、C X ) or Y(N Y 、D Y 、C Y ) or Z(N Z 、D Z 、C Z ) and use them as the new target threshing drum speed N2, target threshing concave gap D2, and target guide plate angle C2. Ultimately, energy conservation and consumption reduction are achieved while ensuring the grain breakage rate and loss rate.

[0113] During the threshing process, the speed sensor 411 monitors the rotation speed of the threshing drum. When the drum is blocked, an alarm is issued in time to prompt the operator to stop the machine for inspection.

[0114] To ensure the accuracy of the model, each relational model is further optimized, and the optimal output parameters of the overlapping parts between the relational models are found through experiments. The relational models are then merged into a monotonic continuity model to ensure the uniqueness of the model values ​​and prevent conflicts in the parameters output by the intelligent control system 3.

[0115] In order to further enhance the feasibility of the present invention, a correlation analysis is performed on the threshing concave extrusion force and the threshing power to explore the relationship between the threshing concave extrusion force and the threshing power, thereby realizing that the feeding amount can be judged only by detecting the threshing concave extrusion force during the threshing process, and the power consumption can be indirectly reflected.

Claims

1. A multifunctional corn threshing and separation device, comprising a threshing chamber (1), a threshing drum (2), an intelligent control system (3) and a frame (4); the threshing chamber (1) and the threshing drum (2) are mounted on the frame (4) with the front lower and the rear higher, characterized in that: The corn threshing and separation device comprises a speed sensor (411) for detecting the rotation speed of the threshing drum (2); The threshing chamber (1) comprises a feeding hopper (101), an angle adjustment swing rod (102), a support rod (103), a gap adjustment hinge plate (104), a concave plate gap adjustment electric push rod (105), a gap adjustment support plate (106), an angle adjustment connecting rod (107), an arc-shaped support rib (108), a guide plate (109), a guide plate angle adjustment electric push rod (110), a guide plate angle measurement sensor (111), a rear end baffle (112), an arc baffle (113), an axial Support plate (114), separation concave plate (115), threshing concave plate connecting rod (116), threshing concave plate displacement sensor (117), tension sensor (118), threshing concave plate (119), bottom conical baffle (120), front baffle (121), suspension rod (122), hanging rod (123), angle adjustment power rod (124), bearing seat mounting plate (125), bearing seat (126), arc top plate (127), rear end flange (128) and front end flange (129); The front end of the arc-shaped top plate (127) at the top and the front ends of the two axial support plates (114) at both sides are fixedly connected to the front end flange (129), and the rear end of the arc-shaped top plate (127) and the rear ends of the two axial support plates (114) are fixedly connected to the rear end flange (128), forming the main support structure of the threshing chamber (1); the feeding shell composed of the feeding hopper (101), the bottom conical baffle (120) and the front end baffle (121) is fixedly connected to the front end flange (129); the rear end baffle (112) is fixedly connected to the rear end flange (128); and the separation concave plate (115) is fixedly connected to the rear half of the two axial support plates (114); A plurality of arc-shaped support ribs (108) are fixedly connected between the arc-shaped top plate (127) and the two axial support plates (114), and an arc-shaped baffle (113) is fixedly connected between two adjacent arc-shaped support ribs (108), between the arc-shaped support rib (108) and the front flange (129), and between the arc-shaped support rib (108) and the rear flange (128); the arc-shaped baffle (113) is made of a transparent acrylic material, which can observe the corn threshing process in real time and reduce the overall weight of the device; A plurality of suspension rods (122) are fixed on the front half of the axial support plate (114) on the right side, and a suspension rod (123) parallel to the axial support plate (114) is fixed on the plurality of suspension rods (122) and is located below the axial support plate (114); two gap adjustment support plates (106) are fixed on two arc-shaped support ribs (108) located on the front half of the left side, and a support rod (103) parallel to the axial support plate (114) is fixed on the two gap adjustment support plates (106). The push rod end of the concave plate gap adjustment electric push rod (105) is hinged to the gap adjustment hinge plate (104) fixed to the support rod (103), and the cylinder end of the concave plate gap adjustment electric push rod (105) is hinged to the axial support plate (114) located on the left side; the upper ends of the two threshing concave plate connecting rods (116) are hinged to the support rod (103), and the lower ends are hinged to the left side of the threshing concave plate (119); the right side of the threshing concave plate (119) is rotatably connected to the suspension rod (123); The threshing concave plate displacement sensor (117) is installed inside the concave plate gap adjustment electric push rod (105), and indirectly measures the concave plate gap size by detecting the extension and contraction amount of the concave plate gap adjustment electric push rod (105); The threshing concave connecting rod (116) adopts a two-stage structure, and the tension sensor (118) is installed in the middle position of the threshing concave connecting rod (116) for real-time detection of the extrusion force exerted on the threshing concave (119) during the threshing process; The threshing concave (119) is divided into a primary threshing concave, a secondary threshing concave and a tertiary threshing concave from front to back; wherein the threshing rods of the secondary threshing concave and the tertiary threshing concave are arranged along the axis of the threshing chamber (1), and the threshing rod of the primary threshing concave is arranged obliquely, with a certain angle between the threshing rod and the axis of the threshing chamber (1), which helps to move the ear flow and prevents blockage; A plurality of guide plates (109) are arranged on the inner surface of the arc-shaped baffle (113) at equal intervals along the axial direction of the threshing chamber (1); a plurality of bearing seats (126) corresponding to the guide plates (109) are mounted on the arc-shaped top plate (127) through a bearing seat mounting plate (125); a rotating shaft is provided at the top end of each guide plate (109); the rotating shaft passes through the arc-shaped baffle (113) and is mounted in the bearing seat (126) and is fixed to an angle adjustment rocker (102); the plurality of angle adjustment rockers (102) are parallel to each other. The deflector angle adjustment electric push rod (110) is hinged on the angle adjustment connecting rod (107); the rear end of the deflector angle adjustment electric push rod (110) is hinged on the arc-shaped top plate (127), and the front end is hinged to the angle adjustment power rod (124); the angle adjustment power rod (124) is hinged to the rear end of the angle adjustment connecting rod (107); the deflector angle measurement sensor (111) is installed inside the deflector angle adjustment electric push rod (110), and indirectly measures the deflector angle by detecting the extension and contraction amount of the deflector angle adjustment electric push rod (110); The intelligent control system (3) comprises a host computer, a PLC controller, a frequency converter, a concave plate relay switch and a guide plate relay switch; the host computer is connected to the PLC controller; the PLC controller is respectively connected to the frequency converter, the concave plate relay switch, the guide plate relay switch, a speed sensor (411), a threshing concave plate displacement sensor (117), a tension sensor (118) and a guide plate angle measurement sensor (111) to obtain the threshing power, threshing drum speed, threshing concave plate gap, guide plate angle and threshing concave plate extrusion force of the multifunctional corn threshing and separation device; the frequency converter is connected to the motor (409); the concave plate relay switch is connected to a concave plate gap adjustment electric push rod (105); and the guide plate relay switch is connected to a guide plate angle adjustment electric push rod (110).

2. The corn threshing and separation device according to claim 1, characterized in that: The frame (4) includes a right-angle commutator (401), a rear end support plate (402), a pin (403), a cleaning screen (404), a front end support plate (405), a hinge plate (406), a material receiving plate (407), a motor base (408), a motor (409) and a transmission belt (410); A pair of hinged plates (406) are fixedly connected to the front and rear columns of the frame (4); the front support plate (405) and the rear support plate (402) are respectively hinged to the hinged plates (406) through pins (403) with the front lower and the rear higher. The frame (4) supports the threshing chamber (1) and the threshing drum (2) through the front support plate (405) and the rear support plate (402) to perform threshing operations; the motor (409) is installed at the rear end of the frame (4) through the motor seat (408), and the motor (409) transmits power to the motor fixed to the rear end through the transmission belt (410). The right-angle commutator (401) on the support plate (402) transmits power to the threshing drum (2) by reducing speed and increasing torque; the speed sensor (411) is installed on the right-angle commutator (401) and is used to detect the rotation speed of the threshing drum (2) and upload it to the host computer of the intelligent control system (3) for display and storage; the cleaning screen (404) and the receiving plate (407) are arranged in sequence from top to bottom below the threshing chamber (1); the corn kernels after threshing are screened by the cleaning screen (404) and fall into the receiving plate (407) for collection.

3. The corn threshing and separation device according to claim 1, characterized in that: The inclination angle between the axis of the threshing chamber (1) and the threshing drum (2) and the horizontal plane is 8°.

4. The corn threshing and separating device according to claim 1, characterized in that: The guide plate (109) is a streamlined hollow structure.

5. The corn threshing and separating device according to claim 1, characterized in that: The threshing drum (2) comprises a front end shaft (201), spiral blades (202), a conical drum (203), a cylindrical drum (204), a bar-type threshing element (205), a spike-type threshing element (206), a threshing element mounting seat (207), a grass discharge plate (208) and a rear end shaft (209); The conical cylinder (203) and the cylindrical drum (204) are fixedly connected front and back and are installed in the threshing chamber (1) via a front shaft (201) and a rear shaft (209), wherein the rear shaft (209) is connected to a right-angle commutator (401); the spiral blades (202) are arranged on the conical cylinder (203) to form a feeding section of the threshing drum (2); the rib-type threshing element (205), the spike-tooth threshing element (206) and the grass discharge plate (208) are arranged on the cylindrical drum (204) in sequence from front to back to form a threshing section, a separation section and a debris discharge section of the threshing drum (2); wherein the spike-tooth threshing element (206) is fixedly connected to the cylindrical drum (204) via a threshing element mounting seat (207).

6. The corn threshing and separating device according to claim 1, characterized in that: The intelligent control system (3) has a human-computer interaction interface, including a login interface, an operation interface, a curve display and a storage interface.

7. An intelligent control method for the multifunctional corn threshing and separation device according to any one of claims 1 to 6, characterized in that: The method comprises the following steps: S1, setting target threshing drum speed N2, target threshing concave gap D2 and target guide plate angle C2; S2, using a speed sensor (411), a threshing concave displacement sensor (117), and a guide plate angle measurement sensor (111) to respectively detect in real time the current threshing drum speed N1 of the threshing drum (2), the elongation of the concave gap adjustment electric push rod (105), and the guide plate angle adjustment electric push rod (110); obtaining the relationship between the elongation of the concave gap adjustment electric push rod (105) and the guide plate angle adjustment electric push rod (110) and the threshing concave gap D and the guide plate angle C through calibration tests, and then converting the current threshing concave gap D1 and the current guide plate angle C1; S3, comparing the current threshing drum speed N1, the current threshing concave gap D1 and the current guide plate angle C1 with the set target threshing drum speed N2, the target threshing concave gap D2 and the target guide plate angle C2 respectively; S3.

1. If the current threshing drum speed N1 is not equal to the target threshing drum speed N2, the PLC controller controls the output frequency of the frequency converter to increase or decrease the speed of the motor (409); if the current threshing drum speed N1 is equal to the target threshing drum speed N2, the speed regulation is stopped; the PID algorithm is added to the speed regulation process to improve the robustness of the speed regulation; S3.

2. If the current threshing concave gap D1 is greater than the target threshing concave gap D2, the PLC controller controls the concave gap adjustment electric push rod (105) to retract until the current threshing concave gap D1 is equal to the target threshing concave gap D2; if the current threshing concave gap D1 is less than the target threshing concave gap D2, the PLC controller controls the concave gap adjustment electric push rod (105) to extend until the current threshing concave gap D1 is equal to the target threshing concave gap D2; S3.

3. If the current deflector angle C1 is greater than the target deflector angle C2, the PLC controller controls the deflector angle adjustment electric push rod (110) to retract until the current deflector angle C1 is equal to the target deflector angle C2; ​​conversely, if the current deflector angle C1 is less than the target deflector angle C2, the PLC controller controls the deflector angle adjustment electric push rod (110) to extend until the current deflector angle C1 is equal to the target deflector angle C2; S4, the intelligent control system (3) detects the threshing power and the threshing concave extrusion force in real time through the frequency converter and the tension sensor (118), and displays and stores the results on the human-computer interaction interface; Furthermore, in step S4, according to the detected threshing power and threshing concave extrusion force, the target threshing drum speed N2, the target threshing concave gap D2, and the target guide plate angle C2 are automatically updated in combination with the optimized load feedback control algorithm, and steps S2 to S3 are repeated, so that when the feed amount is constant, the threshing power and the threshing concave extrusion force are minimized while satisfying the grain breakage rate and loss rate. Specifically, the steps include: S4.

1. Establish relationship models between threshing power, threshing concave extrusion force, and feed rate, respectively, and use threshing power and threshing concave extrusion force as input parameters to characterize the size of the feed rate; S4.

2. Set the feed rate to three ranges: large, medium, and small, and simulate the high-speed, medium-speed, and low-speed working modes of the corn combine harvester. Establish relationship models between the three experimental factors, namely, the threshing drum speed N, the threshing concave gap D, and the guide plate angle C, and the four experimental indicators, namely, the threshing power, the threshing concave extrusion pressure, the grain breakage rate, and the unthreshed rate, under the three feed rates. Optimize the working parameters of the corn threshing and separation device with the minimum threshing power, the minimum threshing concave extrusion pressure, the minimum grain breakage rate, and the minimum unthreshed rate as constraints, and obtain three sets of optimal solutions X(N) under different feed rates. X 、D X 、C X )、Y(N Y 、D Y 、C Y )、Z(N Z 、D Z 、C Z ); S4.3, according to the detected threshing concave extrusion force and threshing power, the feeding amount is judged, and the intelligent control system (3) outputs the optimal parameter X (N) under the corresponding feeding amount. X 、D X 、C X ) or Y(N Y 、D Y 、C Y ) or Z(N Z 、D Z 、C Z ) and use it as the new target threshing drum speed N2, target threshing concave gap D2 and target guide plate angle C2.

8. The method according to claim 7, characterized in that In the step S3, the threshold range near the target threshing drum speed N2 is set to ±5 r / min; the threshold range near the target threshing concave gap D2 is set to ±1 mm; and the threshold range near the target guide plate angle C2 is set to ±1 mm.

9. The method according to claim 7, characterized in that The optimal output parameters of the overlapping parts between the relational models are found through experiments, and the relational models are merged into a monotonic continuity model to ensure the uniqueness of the model values ​​and prevent the conflict of the parameters output by the intelligent control system (3).

10. The method according to claim 7, characterized in that The correlation analysis of the threshing concave extrusion force and the threshing power is carried out to explore the relationship between the threshing concave extrusion force and the threshing power, and then the feeding amount can be judged only by detecting the threshing concave extrusion force during the threshing process, and the power consumption can be indirectly reflected.

Images