Bundling machine control system and method for soil compaction and reduction

Abstract

The invention discloses a bundling machine control system and method for soil compaction and reduction, and belongs to the agricultural machinery control technology. The invention aims to solve the problem that soil compaction parameters of an existing round baler are generally set manually according to experience and cannot be changed according to actual conditions of soil. A mechanical characteristic data acquisition unit is used for acquiring different mechanical characteristic information of the bundling machine; the soil resistance characteristic data acquisition unit is used for acquiring soil density, soil moisture content and soil porosity information of a to-be-compacted field; the mechanical parameter control signal generation unit calculates the soil pressure resistance and the deviation of different mechanical characteristics of the bundling machine on the soil compaction degree by utilizing the collected information, calculates and obtains a preliminary control signal by adopting a PID algorithm, and sequentially performs excessive adjustment inhibition and time factor addition on the preliminary control signal; and weighting the control signal added with the time factor by using the weight coefficient to obtain the comprehensive compaction strength adjustment amount. The method is suitable for controlling the bundling machine for soil compaction and reduction.

Description

Technical Field

[0001] The present invention belongs to the technical field of agricultural machinery control. Background Art

[0002] With the continuous development of agricultural mechanization, especially during the harvesting and baling processes, the problem of soil compaction caused by heavy machinery has become increasingly prominent. As one of the commonly used agricultural machines, the round baler's main task is to compress the harvested crop residues (such as rice straw, wheat straw, etc.) into round bales for easy transportation and storage. However, the baler exerts a certain pressure on the soil during operation, especially when the machine is heavy, the tire pressure is high, or it travels repeatedly in the working area, which may lead to soil compaction. Soil compaction not only affects the growth of crop roots but also may reduce the water permeability, air permeability, and soil biological activity of the soil, thereby affecting the yield and quality of crops.

[0003] Most traditional round balers adopt fixed working parameters, such as tire pressure, traveling speed, depth of the pickup device, etc. The setting of these parameters usually depends on manual experience and lacks a flexible adjustment mechanism. Therefore, it is difficult to achieve an ideal soil protection effect under different soil conditions and working environments.

[0004] In recent years, agricultural machinery based on automation and intelligent technologies has gradually emerged. In particular, systems that combine sensors, control algorithms, and real-time data adjustment provide new ideas for optimizing the operation process. Summary of the Invention

[0005] The present invention aims to solve the problem that the soil compaction parameters of existing round balers are usually set manually based on experience and cannot be changed according to the actual situation of the soil. Now, a baler control system and method for reducing soil compaction are provided.

[0006] The baler control system for reducing soil compaction according to the present invention includes: a mechanical feature data acquisition unit, a soil resistance feature data acquisition unit, and a mechanical parameter control signal generation unit;

[0007] The mechanical feature data acquisition unit is used to acquire different mechanical feature information of the baler;

[0008] The mechanical feature information includes real-time tire pressure, traveling speed, acceleration, working depth of the compression roller, angle of the compression roller, depth of the rotary gear type pickup device, and working speed information of the rotary gear type pickup device;

[0009] The soil resistance feature data acquisition unit is used to acquire information on soil density, soil moisture content, and soil porosity of the field to be compacted;

[0010] The mechanical parameter control signal generation unit calculates the soil compressive resistance and the deviation of different mechanical characteristics of the baler from the soil compaction degree by using the information collected by the mechanical characteristic data acquisition unit and the information collected by the soil resistance characteristic data acquisition unit, calculates the preliminary control signal by using the PID algorithm, successively performs over-adjustment suppression and time factor addition on the preliminary control signal, and weights the control signal after adding the time factor by using the weight coefficient to obtain the comprehensive compaction strength adjustment amount.

[0011] Further, in the present invention, the mechanical parameter control signal generation unit further includes a soil compaction degree calculation module, a soil compressive resistance calculation module, an error calculation module, a PID control signal calculation module, an over-adjustment suppression module, a regulation module based on time factor, a comprehensive compaction strength generation module, and a control signal generation module;

[0012] The soil compaction degree calculation module calculates the compaction degree of different mechanical characteristics on the soil by using the different mechanical characteristic information.

[0013] The soil compressive resistance calculation module calculates the compressive resistance of the current soil to different mechanical characteristics by using the soil density, soil moisture content, and soil porosity information of the field to be compacted.

[0014] The error calculation module calculates the deviation between the compaction degree of different mechanical characteristics on the soil and the compressive resistance of the current soil to different mechanical characteristics.

[0015] The PID control signal calculation module calculates the adjustment amount of each mechanical characteristic by using the deviation calculated by the error calculation module and adopting the PID algorithm.

[0016] The over-adjustment suppression module performs over-suppression on the adjustment amount of each mechanical characteristic to obtain the over-suppressed adjustment amount of each mechanical characteristic.

[0017] The regulation module based on time factor adjusts the adjustment amount of each mechanical characteristic by adding a time factor formula to obtain the adjustment amount of each mechanical characteristic after adding the time factor.

[0018] The comprehensive compaction strength generation module performs weighted summation on the adjustment amounts of all mechanical characteristics after adding the time factor to obtain the comprehensive compaction strength adjustment amount.

[0019] Further, in the present invention, it further includes an adjustment end control module, which calculates the comprehensive compaction degree of the baler on the soil by using the compaction degree of each mechanical characteristic on the soil, and subtracts the comprehensive compaction strength adjustment amount from the comprehensive compaction degree of the baler on the soil in real time. When the difference is less than the threshold, the parameter adjustment control for this time is ended.

[0020] Further, in the present invention, the method for the soil compaction degree calculation module to calculate the compaction degree of the current different mechanical characteristics on the soil by using the different mechanical characteristic information is as follows:

[0021] Calculate the compaction degree of each mechanical characteristic on the soil, and standardize the compaction degree of each mechanical characteristic on the soil;

[0022] Adopt the formula:

[0023]

[0024] Calculate the standardized data of the compaction degree of each mechanical characteristic on the soil, where P′ t,i represents the data of the compaction degree of the collected mechanical characteristic on the soil, with the subscript i ranging from 1 to 7, and P t,i is the data of the compaction degree of the standardized mechanical characteristic on the soil, μ i is the mean value of the feature X′ t,i and σ i is the standard deviation of X′ t,i .

[0025] Further, in the present invention, the method for the soil compressive resistance calculation module to calculate the compressive resistance of the current soil to different mechanical characteristics and the comprehensive soil compressive resistance by using the soil density, soil moisture content, and soil porosity information of the field to be compacted is as follows:

[0026] First, calculate the resistance of the soil under each mechanical characteristic;

[0027] k t,i =β i,1 ρ t +β i,2 (1 - w t ) + β i,3 (1 - ε t )

[0028] where k t,i is the compressive resistance of different mechanical characteristics, and there are a total of 7 characteristic compressive resistances. β i,1 is the soil density weight, β i,2 is the soil moisture content weight, and β i,3 is the soil porosity; each mechanical characteristic corresponds to a set of β i,1 , β i,2 and β i,3 , and the weight values corresponding to each mechanical characteristic are different. The sum of the 3 weights of each characteristic is 1. ρ t , w t , ε t respectively represent the standardized soil density, soil moisture content, and soil porosity;

[0029] Further, in the present invention, the method for the error calculation module to calculate the deviation between the current compaction degree of different mechanical features on the soil and the current soil's compressive resistance to different mechanical features, as well as the deviation between the comprehensive soil compressive resistance and the comprehensive compaction degree of the baler on the soil, is as follows:

[0030] Using the formula:

[0031] c t,i =|p t,i -k t,i |

[0032] Calculate the deviation between the compaction degree of each mechanical feature on the soil and the current soil's compressive resistance to this mechanical feature, where c t,i is the difference between the compaction strength of a single feature on the soil and the compressive resistance of the soil to a single feature;

[0033] C t =|P t -K t |

[0034] where C t is the difference between the comprehensive compaction strength and the comprehensive compressive resistance.

[0035] Further, in the present invention, the method for the PID control signal calculation module to calculate the adjustment amount of each mechanical feature by using the deviation between the current compaction degree of different mechanical features on the soil and the current soil's compressive resistance to different mechanical features is as follows:

[0036] Based on the error c t,i , use the PID control algorithm to calculate the adjustment amount u t,i

[0037]

[0038] where K p,i 、K i',i 、K d,i are the proportional, integral, and differential gains respectively.

[0039] Further, in the present invention, there is also a proportional, integral, and differential gain optimization module (10), which is used to perform adaptive optimization on the proportional, integral, and differential gains K p,i 、K i',i 、K d,i applied in the PID control signal calculation module.

[0040] Further, in the present invention, the over-adjustment suppression module performs over-adjustment suppression control on the adjustment amount of each mechanical feature to obtain the adjustment amount of each mechanical feature after over-suppression, and the method is as follows:

[0041] Using the formula of the limiting mechanism:

[0042]

[0043] Limit the adjustment amount for each mechanical feature, u t,i,min 、u t,i,max respectively represent the maximum and minimum values of the adjustment amount of mechanical feature i.

[0044] Furthermore, in the present invention, the regulation module based on the time factor adjusts the adjustment amount of each mechanical feature by adding a time factor formula. The method for obtaining the adjustment amount of each mechanical feature with an additional time factor:

[0045] Use the formula:

[0046] u t,i,T =u t,i ·T i

[0047] The influence of time on control is to adjust the control amount by adding a time factor formula; let the time adjustment factor of each control amount be T i , then integrate the control amount and time as: u t,i,T =u t,i ·T i where i = 1 to 7, T i is a factor that dynamically changes based on the current time and control speed. The longer the control time, the larger the control factor.

[0048] A baler control method for soil compaction reduction, the method includes:

[0049] Step 1, collect different mechanical feature information of the baler, the soil density, soil moisture content, and soil porosity information of the field to be compacted; the mechanical feature information includes real-time tire tire pressure, traveling speed, acceleration, working depth of the compression roller, angle of the compression roller, depth of the rotary gear type pickup device, and working speed information of the rotary gear type pickup device;

[0050] Step 2, use the information collected in Step 1 to calculate the compaction degree of the soil caused by each mechanical feature, the soil compressibility under different mechanical features, and the comprehensive compaction degree of the baler on the soil;

[0051] Step 3, calculate the deviation between the compaction degree of the soil caused by different mechanical features and the compressibility of the current soil against different mechanical features;

[0052] Step 4, use the deviation between the compaction degree of the soil caused by different mechanical features and the compressibility of the current soil against different mechanical features, and adopt the PID algorithm to calculate the adjustment amount of each mechanical feature;

[0053] Step Five: Perform over-suppression control on the adjustment amount of each mechanical feature to obtain the adjusted amount of each mechanical feature after over-suppression;

[0054] Step Six: Adjust the adjustment amount of each mechanical feature by adding a time factor formula to obtain the adjusted amount of each mechanical feature with an additional time factor;

[0055] Step Seven: Perform weighted summation on the adjusted amounts of all mechanical features with additional time factors to obtain the comprehensive compaction strength adjustment amount;

[0056] Step Eight: Calculate the comprehensive compaction degree of the baler on the soil using the compaction degree caused by each mechanical feature on the soil. Subtract the comprehensive compaction strength adjustment amount from the comprehensive compaction degree of the baler on the soil in real time, and determine whether the difference is less than the threshold. If so, end this control; otherwise, return to execute Step One until the difference is less than the threshold, and then end this parameter adjustment control.

[0057] Through the combination of the PID control algorithm and the adaptive optimization adjustment technology, the present invention realizes the intelligent control of the key working parameters during the operation of the round baler, especially the precise adjustment of soil compaction. The system can adjust various working parameters of the round baler in real time according to the actual physical properties of the soil, such as compressive resistance, humidity, density, etc.: tire pressure, traveling speed, working depth and speed of the pickup device, working depth and angle of the compression roller, etc., ensuring that the pressure on the soil during the operation is maintained within the minimum range. And by dynamically adjusting parameters such as tire pressure and working depth, it controls the pressure exerted by the machine on the soil, avoids over-compaction, and protects the soil structure. It can also optimize the parameter configuration according to the real-time feedback data, enabling the baler to reach the best working state under different soil types and operating environments, thereby improving the operation efficiency. Brief Description of the Drawings

[0058] Figure 1 It is the system block diagram of the present invention. Detailed Embodiments

[0059] Next, the technical solutions in the embodiments of the present invention will be clearly and completely described in conjunction with the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are only a part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those of ordinary skill in the art without making creative efforts belong to the scope of protection of the present invention. It should be noted that, without conflict, the embodiments in the present invention and the features in the embodiments can be combined with each other.

[0060] Detailed Embodiment One: Refer to Figure 1Specifically describing this embodiment, the baler control system for soil compaction reduction described in this embodiment includes: a mechanical feature data acquisition unit 1, a soil resistance feature data acquisition unit 2, and a mechanical parameter control signal generation unit;

[0061] The mechanical feature data acquisition unit 1 is used to collect different mechanical feature information of the baler;

[0062] The mechanical feature information includes real-time tire tire pressure, traveling speed, acceleration, compression roller working depth, compression roller angle, rotary gear type pickup device depth, and rotary gear type pickup device working speed information;

[0063] The soil resistance feature data acquisition unit 2 is used to collect soil density, soil moisture content, and soil porosity information of the field to be compacted;

[0064] The mechanical parameter control signal generation unit calculates the soil compressive resistance and the deviation of different mechanical features of the baler from the soil compaction degree by using the information collected by the mechanical feature data acquisition unit 1 and the information collected by the soil resistance feature data acquisition unit 2, calculates and obtains a preliminary control signal by using the PID algorithm, performs overshoot adjustment suppression and time factor addition on the preliminary control signal in sequence, and weights the control signal after adding the time factor by using a weight coefficient to obtain a comprehensive compaction strength adjustment amount.

[0065] Furthermore, in the present invention, the mechanical parameter control signal generation unit further includes a soil compaction degree calculation module 3, a soil compressive resistance calculation module 4, an error calculation module 5, a PID control signal calculation module 6, an overshoot adjustment suppression module 7, a time factor-based regulation module 8, a comprehensive compaction strength generation module 9, and a control signal generation module 10;

[0066] The soil compaction degree calculation module 3 calculates the compaction degree of different mechanical features on the soil by using the different mechanical feature information;

[0067] The soil compressive resistance calculation module 4 calculates the compressive resistance of the current soil to different mechanical features by using the soil density, soil moisture content, and soil porosity information of the field to be compacted

[0068] The error calculation module 5 calculates the deviation between the compaction degree of different mechanical features on the soil and the compressive resistance of the current soil to different mechanical features;

[0069] The PID control signal calculation module 6 calculates the adjustment amount of each mechanical feature by using the deviation calculated by the error calculation module 5 and adopting the PID algorithm;

[0070] The overshoot adjustment suppression module 7 performs overshoot suppression on the adjustment amount of each mechanical feature to obtain the adjusted amount of each mechanical feature after overshoot suppression;

[0071] The regulation module 8 based on the time factor adjusts the adjustment amount of each mechanical feature by increasing the time factor formula, and obtains the adjustment amount after adding the time factor to each mechanical feature;

[0072] The comprehensive compaction strength generation module 9 performs weighted summation on the adjustment amounts after adding the time factor to all mechanical features to obtain the comprehensive compaction strength adjustment amount.

[0073] Furthermore, in the present invention, there is also an adjustment end control module, which calculates the comprehensive compaction degree of the baler on the soil by using the compaction degree of the soil caused by each mechanical feature, and subtracts the comprehensive compaction strength adjustment amount from the comprehensive compaction degree of the baler on the soil in real time. When the difference is less than the threshold, the parameter adjustment control for this time is ended.

[0074] Furthermore, in the present invention, the method for the soil compaction degree calculation module 3 to calculate the compaction degree of the current different mechanical features on the soil by using the different mechanical feature information is as follows:

[0075] Calculate the compaction degree of each mechanical feature on the soil, and standardize the compaction degree of each mechanical feature on the soil;

[0076] Use the formula:

[0077]

[0078] Calculate the standardized data of the compaction degree of each mechanical feature on the soil, where P′ t,i represents the data of the compaction degree of the collected mechanical feature on the soil, and the subscript i ranges from 1 to 7, and P t,i is the data of the compaction degree of the standardized mechanical feature on the soil, μ i is the mean value of the feature X′ t,i and σ i is the standard deviation of X′ t,i .

[0079] Furthermore, in the present invention, the method for the soil compressive resistance calculation module 4 to calculate the compressive resistance of the current soil to different mechanical features and the comprehensive soil compressive resistance by using the soil density, soil moisture content and soil porosity information of the field to be compacted is as follows:

[0080] First, calculate the resistance of the soil under each mechanical feature;

[0081] k t,i =β i,1 ρ t +β i,2 (1 - w t ) + β i,3 (1 - ε t )

[0082] Among them, k t,i is the compressive resistance of different mechanical features. There are a total of 7 characteristic compressive resistances, and β i,1 is the soil density weight, and β i,2 is the soil moisture content weight, and β i,3 is the soil porosity; each mechanical feature corresponds to a set of β i,1 , β i,2 and β i,3 . The weight values corresponding to each mechanical feature are different, and the sum of the 3 weights of each feature is 1. ρ t , w t , ε t respectively represent the standardized soil density, soil moisture content, and soil porosity;

[0083] Furthermore, in the present invention, the method for the error calculation module 5 to calculate the deviation between the current degree of soil compaction by different mechanical features and the compressive resistance of the current soil to different mechanical features, and the deviation between the comprehensive soil compressive resistance and the comprehensive soil compaction degree by the baler is as follows:

[0084] Adopt the formula:

[0085] c t,i = |p t,i - k t,i |

[0086] Calculate the deviation between the degree of soil compaction by each mechanical feature and the compressive resistance of the current soil to this mechanical feature. Among them, c t,i is the difference between the compaction strength of a single feature on the soil and the compressive resistance of the soil to a single feature;

[0087] C t = |P t - K t |

[0088] Among them, C t is the difference between the comprehensive compaction strength and the comprehensive compressive resistance.

[0089] Furthermore, in the present invention, the method for the PID control signal calculation module 6 to calculate the adjustment amount of each mechanical feature by using the deviation between the current degree of soil compaction by different mechanical features and the compressive resistance of the current soil to different mechanical features is as follows:

[0090] Based on the error c t,i , use the PID control algorithm to calculate the adjustment amount u t,i

[0091]

[0092] Among them, K p,i , K i',i , Kd,i They are the proportional, integral, and derivative gains respectively.

[0093] Furthermore, in the present invention, there is also a proportional, integral, and derivative gain optimization module (10), which is used to adaptively optimize the proportional, integral, and derivative gains K p,i 、K i',i 、K d,i applied in the PID control signal calculation module 6.

[0094] Furthermore, in the present invention, the over-adjustment suppression module 7 performs over-adjustment suppression control on the adjustment amount of each mechanical feature. The method for obtaining the adjusted amount of each mechanical feature after over-adjustment suppression is as follows:

[0095] Using the formula of the limiting mechanism:

[0096]

[0097] Limit the adjustment amount of each mechanical feature, where u t,i,min 、u t,i,max represent the maximum and minimum values of the adjustment amount of the mechanical feature i respectively.

[0098] Furthermore, in the present invention, the regulation module 8 based on the time factor adjusts the adjustment amount of each mechanical feature by adding a time factor formula. The method for obtaining the adjusted amount of each mechanical feature with an additional time factor is as follows:

[0099] Using the formula:

[0100] u t,i,T =u t,i ·T i

[0101] The influence of time on control is adjusted by adding a time factor formula to the control amount; let the time adjustment factor of each control amount be T i , then the control amount and time are integrated as: u t,i,T =u t,i ·T i where i = 1 to 7, and T i is a factor that dynamically changes based on the current time and control speed. The longer the control time, the larger the control factor.

[0102] A baler control method for soil compaction reduction, the method includes:

[0103] Step 1: Collect different mechanical characteristic information of the baler, as well as the soil density, soil moisture content, and soil porosity information of the field to be compacted; the mechanical characteristic information includes real-time tire tire pressure, traveling speed, acceleration, working depth of the compression roller, angle of the compression roller, depth of the rotary gear type pickup device, and working speed information of the rotary gear type pickup device;

[0104] Step 2: Use the information collected in Step 1 to calculate the compaction degree of the soil caused by each mechanical characteristic, the compressive resistance of the soil under different mechanical characteristics, and the comprehensive compaction degree of the baler on the soil respectively;

[0105] Step 3: Calculate the deviation between the compaction degree of the soil caused by different mechanical characteristics and the compressive resistance of the current soil to different mechanical characteristics;

[0106] Step 4: Use the deviation between the compaction degree of the soil caused by different mechanical characteristics and the compressive resistance of the current soil to different mechanical characteristics, and adopt the PID algorithm to calculate the adjustment amount of each mechanical characteristic;

[0107] Step 5: Perform over-suppression control on the adjustment amount of each mechanical characteristic to obtain the adjusted adjustment amount of each mechanical characteristic after over-suppression;

[0108] Step 6: Adjust the adjustment amount of each mechanical characteristic by adding a time factor formula to obtain the adjusted adjustment amount of each mechanical characteristic with an additional time factor;

[0109] Step 7: Perform weighted summation on the adjusted adjustment amounts of all mechanical characteristics with additional time factors to obtain the comprehensive compaction strength adjustment amount;

[0110] Step 8: Calculate the comprehensive compaction degree of the baler on the soil by using the compaction degree of the soil caused by each mechanical characteristic, and subtract the comprehensive compaction strength adjustment amount from the comprehensive compaction degree of the baler on the soil in real time. Determine whether the difference is less than the threshold value. If so, end this control; otherwise, return to execute Step 1 until the difference is less than the threshold value, and end this parameter adjustment control.

[0111] The reduction of soil compaction in the present invention not only helps to maintain the air permeability and water permeability of the soil, but also improves the microbial activity in the soil, protects the soil health, and promotes the sustainable development of agriculture. By using PID control and adaptive optimization technology, the disadvantages of traditional manual adjustment and experience dependence are avoided, and an intelligent and adaptive control system is provided, which can adjust the working parameters in real time under different conditions. By reducing the excessive pressure of the machine on the soil, not only the soil compaction problem is reduced, but also the load of the machine can be effectively reduced, and the service life of the machine can be extended. The round baler control system of the present invention can effectively reduce soil compaction, improve the soil structure, and enhance the operation efficiency, providing a new solution for the intelligent and environmental protection of agricultural machinery, and having significant economic and social benefits.

[0112] Specific implementation process:

[0113] Adopt a tire pressure sensor, a speed sensor, an accelerometer, a laser rangefinder, an inclination sensor, a manipulator displacement sensor, and a rotational speed sensor to collect the tire pressure, tire pressure, driving speed, acceleration, working depth of the compression roller, angle of the compression roller, depth of the rotary gear type pickup device, and working speed of the rotary gear type pickup device respectively; the data collected by all sensors are centrally collected by the mechanical controller and transmitted to the data processing unit in real time to obtain the compaction degree.

[0114] (1) Calculate the compaction degree of the soil caused by various mechanical characteristics

[0115] Each characteristic needs to be feature standardized, and p′ t ,i is brought into X′ t ,i. X t,i = p t,i , and finally p t,1 , p t,2 , p t,3 , p t,4 , p t,5 , p t,6 , p t,7 .

[0116]

[0117] Among them, P is the comprehensive compaction strength, and α i is the weight sum of different characteristics, and the sum of α1, α2, α3, α3, α5, α6, α7 is 1.

[0118] Calculate the comprehensive compaction degree of the soil by the baler

[0119] P t = α1p t,1 + α2p t,2 + α3p t,3 + α3p t,3 + α4p t,4 + α5p t,5 + α6p t,6 + α7p t,7

[0120] Among them, P is the comprehensive compaction strength, and the weight sum of different characteristics in (2) is 1.

[0121] (2) Calculate the soil compressive resistance

[0122] (1) Soil resistance characteristics

[0123] Feature standardization

[0124] All features require feature standardization. Substitute ρ′ t , w′ t , ε′ t into Y′ t . Y t = ρ t or w t or ε t , and finally calculate ρ t , w t , ε t .

[0125]

[0126] Among them, Y′ t is the original data, j = ρ, w, ε, μ j are the means of the three features ρ′ t , w′ t , ε′ t . There are three means, and σ j is the standard deviation of the three features ρ′ t , w′ t , ε′ t . There are three standard deviations.

[0127] Calculation of the compressive resistance of soil to different mechanical features:

[0128] k t,i = β i,1 ρ t + β i,2 (1 - w t ) + β i,3 (1 - ε t )

[0129] Among them, k t,i is the compressive resistance of different mechanical features. There are a total of 7 feature compressive resistances. β i,1 , β i,2 , β i,3 are the weights of soil density, soil moisture content, and soil porosity for mechanical features. The weight sizes of each mechanical feature are different, and the sum of the 3 weights for a single feature is 1.

[0130] Comprehensive soil compressive resistance:

[0131] K t = χ1k t,1 + χ2k t,2 + χ3k t,3 + χ4k t,4 + χ5k t,5 + χ6kt,6 +χ7k t,7

[0132] Among them, K t is the comprehensive soil compressive strength, and χ i is the weight of the soil's compressive strength against different mechanical characteristics. The sum of χ1, χ2, χ3, χ3, χ4, χ5, χ6, and χ7 is 1.

[0135] (3) Error calculation:

[0136] Priority setting for error calculation and control:

[0137] To avoid excessive influence of multiple mechanisms on the soil simultaneously, a reasonable control priority needs to be set. According to the influence on soil compaction degree, the priority is set as: tire tire pressure, driving speed, tire tire pressure driving speed, acceleration, compression roller depth, compression roller angle, depth of the rotary gear pickup device, working speed of the rotary gear pickup device. After each mechanism reaches the set control quantity limit, the control system automatically switches to the next priority mechanism to ensure non-conflicting and efficient operation.

[0138] Use the following formula to calculate the difference between the compaction strength of a single feature on the soil and the soil's compressive strength against the single feature:

[0139] c t,i =|p t,i -k t,i |

[0140] Among them, c t,i is the difference between the compaction strength of a single feature on the soil and the soil's compressive strength against the single feature.

[0141] C t =|P t -K t |

[0142] Among them, C t is the comprehensive compaction strength 98 and the comprehensive compressive strength difference.

[0143] (4) PID control adjustment amount for a single mechanism:

[0144] Based on the error c t,i , use the PID control algorithm to calculate the adjustment amount u t,i of each mechanical feature;

[0145] Its standard PID formula is:

[0146]

[0147] Among them, K p,i 、K i',i 、Kd,i They are the proportional, integral, and derivative gains respectively. The gains change dynamically and are adjusted according to soil characteristics and mechanical operation conditions.

[0148] (5) Over - adjustment inhibition mechanism:

[0149] The adjustment amount u t,i Must be restricted within a certain range to avoid excessive or insufficient adjustment, which may cause mechanical damage or over - compaction. The formula for the restriction mechanism is:

[0150]

[0151] (6) Control of the time factor:

[0152] The influence of time on control is adjusted by adding a time - factor formula to the control amount. Assume that the time - adjustment factor for each control amount is T i , then the control amount can be integrated with time as:

[0153] u t,i,T = u t,i ·T i

[0154] where i = 1 to 7, T i is a factor that changes dynamically based on the current time and control speed. The longer the control time, the larger the control factor.

[0155] (7) Comprehensive adjustment intensity

[0156] U t = δ1u t,1,T + δ2u t,2,T + δ3u t,3,T + δ4u t,4,T + δ5u t,5,T + δ6u t,6,T + δ7u t,7,T

[0157] where U t is the comprehensive adjustment intensity, i = 1 to 7, δ i is the corresponding weight and the sum of weights is 1.

[0158] (8) End - adjustment judgment:

[0159] When |P t - U t | ≤ K t , the adjustment ends.

[0160] (9) Adaptive control of the proportional, integral, and derivative gains K p,i 、K i',i 、K d,i :

[0161] To further improve the intelligence and adaptability of the system, adaptive learning can be carried out through historical data to continuously optimize the PID parameters (K p,i , K i',i , K d,i ). The adaptive learning formula is as follows:

[0162] K' p,i = K p,i + φ1·c t,i

[0163]

[0164] where φ1, φ2, φ3 are the proportional, integral, and differential learning rates of adaptive learning. The PID parameters are optimized through historical data and real-time feedback to achieve a more efficient control effect. After control, let K p,i = K' p,i , K t,i = K i ” ,i and K d,i = K' d,i for application.

[0165] Although the present invention has been described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. Therefore, it should be understood that many modifications can be made to the exemplary embodiments, and other arrangements can be designed, as long as they do not depart from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the different dependent claims and the features described herein can be combined in a manner different from that described in the original claims. It should also be understood that the features described in connection with a single embodiment can be used in other described embodiments.

Claims

1. A baler control system for soil compaction reduction, characterized in that: include: A machine characteristic data acquisition unit (1), a soil resistance characteristic data acquisition unit (2) and a machine parameter control signal generation unit; The mechanical characteristic data collection unit (1) is used to collect different mechanical characteristic information of the baler; The mechanical characteristic information includes real-time tire pressure, driving speed, acceleration, compression roller working depth, compression roller angle, rotary gear pickup depth and rotary gear pickup working speed information; The soil resistance characteristic data collection unit (2) is used to collect soil density, soil moisture content and soil porosity information of the field to be compacted; The mechanical parameter control signal generating unit calculates the soil compression resistance and the deviation of the soil compaction degree caused by different mechanical characteristics of the baler using the information collected by the mechanical characteristic data collecting unit (1) and the information collected by the soil resistance characteristic data collecting unit (2), and uses the PID algorithm to calculate and obtain a preliminary control signal. The preliminary control signal is subjected to over-adjustment suppression and time factor addition in sequence, and the control signal after the time factor is added is weighted using a weight coefficient to obtain a comprehensive compaction strength adjustment amount.

2. The baler control system for soil compaction reduction according to claim 1, characterized in that: The mechanical parameter control signal generating unit further comprises a soil compaction degree calculating module (3), a soil compression resistance calculating module (4), an error calculating module (5), a PID control signal calculating module (6), an over-adjustment suppressing module (7), a time factor-based control module (8), a comprehensive compaction strength generating module (9) and a control signal generating module (10); The soil compaction degree calculation module (3) uses the different mechanical characteristic information to calculate the compaction degree of the soil caused by the different mechanical characteristics; The soil compression resistance calculation module (4) uses the soil density, soil moisture content and soil porosity information of the field to be compacted to calculate the current soil compression resistance to different mechanical characteristics. The error calculation module (5) calculates the deviation between the compaction degree of soil by different mechanical characteristics and the compression resistance of the current soil by different mechanical characteristics; The PID control signal calculation module (6) uses the deviation calculated by the error calculation module (5) to calculate the adjustment amount of each mechanical feature using a PID algorithm; The over-adjustment suppression module (7) performs over-suppression on the adjustment amount of each mechanical feature, and obtains the adjustment amount of each mechanical feature after over-suppression; The time factor-based control module (8) adjusts the adjustment amount of each mechanical feature by adding the time factor formula to obtain the adjustment amount of each mechanical feature after the time factor is added; The comprehensive compaction strength generation module (9) performs weighted summation on the adjustment amounts of all mechanical features after adding the time factor, and obtains the comprehensive compaction strength adjustment amount.

3. The baler control system for soil compaction reduction according to claim 1 or 2, characterized in that: It also includes an adjustment end control module, which uses the compaction degree of the soil caused by each mechanical characteristic to calculate the comprehensive compaction degree of the soil by the baler, and subtracts the comprehensive compaction strength adjustment amount from the comprehensive compaction degree of the soil by the baler in real time. When the difference is less than a threshold value, the parameter adjustment control is ended.

4. The baler control system for soil compaction reduction according to claim 1, characterized in that: The soil compression resistance calculation module (4) uses the soil density, soil moisture content and soil porosity information of the field to be compacted to calculate the current soil compression resistance to different mechanical characteristics and the comprehensive soil compression resistance as follows: First, the resistance of the soil under each mechanical characteristic is calculated; k t,i =b i,1 r t +b i,2 (1-w t )+b i,3 (1-e t ) Among them, k t,i It is the compressive strength of different mechanical characteristics. There are 7 characteristic compressive strengths in total. i,1 Soil density weight, β i,2 is the soil moisture weight, β i,3 is the soil porosity; each mechanical characteristic corresponds to a set of β i,1 , β i,2 and β i,3 , each mechanical feature has a different weight value, and the sum of the three weights of each feature is 1, ρ t ,w t ,ε t represent the standardized soil density, soil moisture content and soil porosity, respectively.

5. The baler control system for soil compaction reduction according to claim 4, characterized in that: The error calculation module (5) calculates the deviation between the current compaction degree of soil by different mechanical characteristics and the current soil compression resistance by different mechanical characteristics and the deviation between the comprehensive soil compression resistance and the comprehensive compaction degree of soil by the baler as follows: Using the formula: c t,i =|p t,i -k t,i | Calculate the deviation between the compaction degree of each mechanical feature on the soil and the current soil compression resistance of the mechanical feature, where c t,i is the difference between the compaction strength of a single feature on the soil and the compression resistance of the soil on a single feature, P t,i Data on the degree of compaction caused to the soil by standardized mechanical characteristics.

6. The baler control system for soil compaction reduction according to claim 5, characterized in that: The PID control signal calculation module (6) calculates the adjustment amount of each mechanical feature by using the deviation between the compaction degree of the soil by the current different mechanical features and the compression resistance of the current soil to the different mechanical features: Based on the error c t,i , use the PID control algorithm to calculate the adjustment amount u of the mechanical characteristic i t,i Among them, K p,i , K i',i , K d,i are proportional, integral and differential gains respectively, and t is time.

7. The baler control system for soil compaction reduction according to claim 6, characterized in that: The system also includes a proportional, integral, and differential gain optimization module (10), which is used to optimize the proportional, integral, and differential gain K used in the PID control signal calculation module (6). p,i , K i',i , K d,i Perform adaptive optimization.

8. The baler control system for soil compaction reduction according to claim 7, characterized in that: The over-adjustment suppression module (7) performs over-suppression control on the adjustment amount of each mechanical feature, and the method for obtaining the adjustment amount of each mechanical feature after over-suppression is: Formula for utilizing the restriction mechanism: in t,i =in t,i in t,i,min in t,i in t,i,max in t,i =in max in t,i >in t,i,max in t,i =in min in t,i <in t,i,min Limit the adjustment amount of each mechanical feature, u t,i,min 、u t,i,max They respectively represent the maximum and minimum values ​​of the adjustment amount of mechanical feature i.

9. The baler control system for soil compaction reduction according to claim 8, characterized in that: The time factor-based control module (8) adjusts the adjustment amount of each mechanical feature by adding a time factor formula, and obtains the method of adjusting the adjustment amount of each mechanical feature with the additional time factor: Using the formula: u t,i,T =u t,i ·T i The influence of time on control is adjusted by adding a time factor formula to adjust the control quantity; let the time adjustment factor of each control quantity be T i .

10. A baler control method for reducing soil compaction, characterized in that: The method includes: Step 1: Collect different mechanical characteristic information of the baler, soil density, soil moisture content and soil porosity information of the field to be compacted; the mechanical characteristic information includes real-time tire pressure, driving speed, acceleration, compression roller working depth, compression roller angle, rotary gear pickup depth and rotary gear pickup working speed information; Step 2: using the information collected in step 1, respectively calculate the degree of compaction of the soil caused by each mechanical feature, the compression resistance of the soil under different mechanical features, and the comprehensive degree of compaction of the soil by the baler; Step 3, calculating the deviation between the compaction degree of soil under different mechanical characteristics and the compression resistance of the current soil under different mechanical characteristics; Step 4: Utilizing the compaction degree of soil by different mechanical characteristics and the deviation of the current soil compression resistance to different mechanical characteristics, the PID algorithm is used to calculate the adjustment amount of each mechanical characteristic; Step 5: Perform over-suppression control on the adjustment amount of each mechanical feature to obtain the adjustment amount of each mechanical feature after over-suppression; Step 6: Adjust the adjustment amount of each mechanical feature by adding a time factor formula to obtain the adjustment amount of the additional time factor of each mechanical feature; Step 7: Perform weighted summation on the adjustment amounts of all mechanical characteristics and additional time factors to obtain the comprehensive compaction strength adjustment amount; Step 8. Calculate the comprehensive compaction degree of the soil by the baler using the compaction degree of each mechanical characteristic, and subtract the comprehensive compaction strength adjustment amount from the comprehensive compaction degree of the soil by the baler in real time to determine whether the difference is less than a threshold value. If so, terminate this control. Otherwise, return to step 1 until the difference is less than the threshold value to terminate this parameter adjustment control.

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