Rice field canal mouth irrigation and drainage gate opening and closing control method based on motor pulse and torque

Abstract

The invention belongs to the field of agriculture, and particularly relates to a rice field canal mouth irrigation and drainage gate opening and closing control method based on motor pulse and torque. Increasing the pulse of the motor to continuously move the gate and reading the torque of the motor; and judging whether the torque of the motor exceeds a set resistance threshold value or not, and if so, entering the next step and the like. The pulse number of the motor is matched with the rotation torque of the gate, the state of the water gate is judged according to the obtained pulse state of the motor and the returned torque, so that the problems existing in the operation process of the rice field irrigation and drainage gate are solved, and the method has the advantages of being high in efficiency, saving time and labor and not prone to making mistakes.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of agriculture, and particularly relates to a rice field canal gate opening and closing control method based on motor pulse and torque. BACKGROUND

[0002] At present, the agricultural water management, especially the rice field irrigation management mode mainly relies on manual management, and there are phenomena such as extensive management, water waste, crop yield reduction caused by water shortage, etc. At present, the rice field irrigation and drainage mainly uses the lifting gate, and the lifting gate has low cost and is convenient to install and control. However, the traditional lifting gate mainly relies on manual opening and closing, and cannot accurately control the opening and closing degree of the gate. At the same time, a certain labor cost is needed, which is time-consuming and labor-intensive. In addition to manual control, some canals now use motor pulse to control the opening and closing of the gate. However, the pure pulse control of the motor to open and close the gate is inaccurate in judging the position of the water gate, the gate cannot be accurately closed, or the initial pulse value set by the gate facility is invalid due to aging, and the gate is also likely to be stuck in the water with poor quality and many large particles in the farmland irrigation water. How to effectively determine the position and state of the water gate is a problem to be solved at present. SUMMARY

[0003] In view of the shortcomings of the prior art, the present application provides a rice field canal gate opening and closing control method based on motor pulse and torque, which solves the problems of low efficiency, time-consuming and labor-intensive, and judgment error in manual control of irrigation and drainage and in part of the motor control of the gate opening and closing. The main idea is to match the number of motor pulses with the torque of the gate rotation by using a single-chip microcomputer, to judge the state of the water gate by the motor pulse state obtained and the torque returned, that is, whether the water gate is completely closed / opened or the water gate is stuck by an obstacle of different materials, so as to solve the problems existing in the operation process of the rice field irrigation and drainage gate.

[0004] The present application provides a rice field canal gate opening and closing control method based on motor pulse and torque, comprising: Step 1, starting the gate, the motor rotating in a first direction; Step 2, increasing the motor pulse to make the gate continue to move and reading the torque of the motor; Step 3, judging whether the torque of the motor exceeds the set resistance threshold, Yes, go to step 4; otherwise, go back to step 2; Step 4, increasing the torque of the motor; Step 5, judging whether the number of motor pulses is increased, Yes, increase the motor pulse to make the gate continue to move and return to step 3; otherwise, go to step 6; Step 6, judging whether the number of motor pulses reaches the pulse threshold, Yes, the gate action is completed; otherwise, go to step 7; Step 7, motor rotation, the motor rotates in the second direction, and then rotates in the first direction; Step 8, judge whether the pulse number of the motor is increased, Yes, it is judged that the obstacle can be broken through and returns to step 4; otherwise, go to step 9; Step 9, judge whether the number of motor rotation is more than n times, n is a natural number greater than 1, Yes, return to step 7; otherwise, it is judged that the obstacle cannot be broken through and an alarm is given.

[0005] Further, in step 1, the gate is started to move up or down.

[0006] Further, in step 6, the pulse threshold is the pulse number of the motor when the gate reaches the highest point or the lowest point.

[0007] Further, n is 3.

[0008] Further, the motor drives the gate to rise and fall through the nut-screw pair, and the motor pulse number corresponding to the gate position is preset.

[0009] Compared with the prior art, the beneficial effects of the present application are: The present application matches the pulse number of the motor with the torque of the gate rotation, judges the state of the water gate through the obtained motor pulse state and the returned torque, so as to solve the problems existing in the operation process of the paddy field drainage and irrigation gate, has the advantages of high efficiency, time and labor saving, and less error. BRIEF DESCRIPTION OF DRAWINGS

[0010] Figure 1 is the flow chart of the present application; Figure 2 is the pulse and torque trend diagram when the water gate is normally reset; Figure 3 is the pulse and torque trend diagram when the water gate encounters a breakable obstacle; Figure 4 is the pulse and torque trend diagram when the water valve encounters an unbreakable obstacle. EMBODIMENT

[0011] The present application will be further described below in conjunction with the drawings.

[0012] Please refer to Figures 1-4A method for controlling the opening and closing of irrigation and drainage gates at paddy field canals based on motor pulses and torque is disclosed. The method involves a motor driving the gate up and down via a nut and screw pair. The motor has a preset number of pulses corresponding to the gate position. When the set number of pulses is reached, it indicates that the gate has reached its lowest or highest point. This control method determines the current state of the gate by acquiring the motor's pulses and torque, thereby controlling the gate's movement. Specifically, the method includes: Step 1: Start the gate, and the motor will rotate in the first direction.

[0013] If the gate is open, it moves upward; if the gate is closed, it moves downward. The first direction can be forward rotation of the motor, the second direction can be reverse rotation of the motor, and vice versa.

[0014] Step 2: Increase the pulse of the motor to make the gate continue to move and read the torque of the motor.

[0015] Step 3: Determine whether the motor torque exceeds the set resistance threshold. If yes, it means the gate has encountered an obstacle, and proceed to step 4; otherwise, it means the gate has not encountered an obstacle or the obstacle is very small, so return to step 2. The purpose of returning to step 2 is to make the gate continue to move.

[0016] The resistance threshold is used to determine whether the gate encounters an obstacle.

[0017] Step 4: Increase the torque of the motor. Increasing the torque is to enable the gate to overcome obstacles.

[0018] Step 5: Determine if the number of motor pulses increases. If yes, it means the gate can continue to move. Therefore, continue to increase the number of motor pulses to make the gate continue to move and return to step 3; otherwise, proceed to step 6.

[0019] Step 6: Determine whether the number of motor pulses has reached the pulse threshold. The pulse threshold is the number of motor pulses when the gate reaches the highest or lowest point. This is used to determine whether the gate has reached the lowest or highest point. If it has, it means that the gate has reached the lowest or highest point and the gate action is complete; otherwise, it means that the gate has not yet reached the lowest or highest point, so proceed to step 7.

[0020] The pulse threshold corresponds to the lowest and highest points of the gate and is used to determine whether the gate has reached its lowest or highest point. Step 7: The motor rotates. The motor rotates in the second direction and then in the first direction. The purpose is to make the gate break through the obstruction of the obstacle.

[0021] Step 8: Determine if the number of motor pulses has increased. If so, determine if the obstacle can be overcome and return to step 4; otherwise, proceed to step 9.

[0022] Step 9: Determine if the number of times the motor rotates exceeds n, where n is a natural number greater than 1, preferably 3. If yes, return to step 7; otherwise, determine that the obstacle cannot be overcome and sound an alarm.

[0023] The above control methods include the following three key points: 1) Gate opening and closing determination The gate and motor are connected by a lead screw. The number of motor pulses corresponding to the gate position is set. When the motor reaches the set number of pulses, it means that the gate has reached the lowest or highest point.

[0024] 2) Gate obstacle determination 2.1) The gate can break through obstacles. When the gate reaches the obstacle position, if the number of motor pulses has not reached the set minimum or maximum threshold, the pulse value fed back by the motor remains unchanged, while the torque value increases. At this point, it is determined that the gate has encountered an obstacle, and the motor continues to run until the set torque threshold is reached. If the pulse changes during this process, it is determined that the gate has encountered a passable obstacle. If the pulse does not change, the motor will automatically turn back and repeat the above process three times. If the pulse changes, it is also determined that the obstacle is passable.

[0025] 2.2) The gate must not breach any obstacles. The judgment process is the same as above. If the pulse does not change after the motor rotates three times, it is judged that the obstacle cannot be overcome, the motor will alarm, and manual handling will be required.

[0026] like Figure 2 As shown, when the gate is closed normally, the number of motor pulses increases linearly until the gate reaches its lowest point. The motor torque remains constant in the early stage, and then increases linearly again when the gate finally reaches its lowest point.

[0027] like Figure 3 As shown, when the gate encounters a passable obstacle, the motor's pulse initially increases linearly, oscillates when the gate encounters the obstacle, and continues to increase linearly after the gate overcomes the obstacle until the gate reaches its lowest point. The motor's torque remains constant initially. When the gate encounters an obstacle, the torque experiences three increases followed by decreases. After the third decrease, it indicates that the gate has overcome the obstacle, and the torque remains constant thereafter. Finally, when the gate reaches its lowest point, the torque increases linearly until the gate reaches its lowest point.

[0028] like Figure 4As shown, when the gate encounters an insurmountable obstacle, the motor's pulse initially increases linearly. Upon encountering the obstacle, it experiences three cycles of decreasing and then increasing again. The pulse consistently fails to surpass the previous high point, indicating that the gate cannot overcome the obstacle. The gate's operation terminates, and the motor alarm sounds. Similarly, the motor's torque initially remains constant. When the gate encounters an obstacle, the torque experiences three cycles of increasing and then decreasing. After the third decrease, it continues to increase, indicating that the gate cannot overcome the obstacle. The gate's operation terminates, and the motor alarm sounds.

[0029] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, and not to limit them; although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features; and these modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method for controlling the opening and closing of irrigation and drainage gates at paddy field canal entrances based on motor pulses and torque, characterized in that, include: Step 1: Start the gate; the motor will rotate in the first direction. Step 2: Increase the pulses to the motor to make the gate continue to move and read the motor torque; Step 3: Determine whether the motor torque exceeds the set resistance threshold. If so, proceed to step 4; Otherwise, return to step 2; Step 4: Increase the motor torque; Step 5: Determine if the number of motor pulses has increased. If so, increase the pulse of the motor to make the gate continue to move and return to step 3; Otherwise proceed to step 6; Step 6: Determine if the number of pulses from the motor has reached the pulse threshold. If yes, the gate operation is complete; otherwise, proceed to step 7. Step 7: The motor rotates back. The motor rotation is the motor rotating in the second direction and then rotating in the first direction. Step 8: Determine if the number of motor pulses has increased. If so, it is determined that the obstacle can be overcome and the user returns to step 4; Otherwise proceed to step 9; Step 9: Determine if the number of times the motor rotates exceeds n, where n is a natural number greater than 1. If yes, return to step 7; otherwise, determine that the obstacle cannot be overcome and issue an alarm.

2. The method for controlling the opening and closing of irrigation and drainage gates at paddy field canals based on motor pulses and torque according to claim 1, characterized in that, When the gate is activated in step 1, the gate moves up or down.

3. The method for controlling the opening and closing of irrigation and drainage gates at paddy field canals based on motor pulses and torque according to claim 1, characterized in that, In step 6, the pulse threshold is the number of pulses from the motor when the gate reaches its highest or lowest point.

4. The method for controlling the opening and closing of irrigation and drainage gates at paddy field canals based on motor pulses and torque according to claim 1, characterized in that, n is 3.

5. The method for controlling the opening and closing of irrigation and drainage gates at paddy field canals based on motor pulses and torque according to claim 1, characterized in that, The motor drives the gate to rise and fall through the nut and screw pair, and the number of motor pulses corresponding to the gate position is preset.

Images