A method and system for damping a combine harvester damper to monitor changes in feed rate

Abstract

The application provides a damping method and system of a combine harvester damper for monitoring the change of feeding amount, comprising the following steps: setting an adjustable damper system between a threshing cylinder and a concave screen, and between the threshing cylinder and a cylinder cover plate of a combine harvester; installing a sensor at a key part of a feeding system of the combine harvester to monitor the change of the feeding amount in real time; determining a target damping parameter according to the feeding amount data monitored by the sensor in real time, combining a mapping relationship model of the feeding amount and the damper parameter set in advance, and dynamically adjusting the damping parameter of the adjustable damper system to the target value; when it is determined that the feeding amount is suddenly changed according to the change rate or statistical characteristics of the sensor data exceeding a preset threshold value, starting an emergency adjustment strategy to adjust the damping parameter of the damper to a safety value suitable for the suddenly changed feeding amount in a preset short time. The application effectively suppresses the violent vibration of the threshing cylinder, avoids the damage of the equipment, and prolongs the service life of the combine harvester.

Description

Technical Field

[0001] This invention relates to the field of harvester monitoring and management technology, specifically to a method and system for vibration reduction of a combine harvester damper that monitors changes in feed rate. Background Technology

[0002] A combine harvester is an agricultural harvesting machine that can complete the harvesting, threshing, stalk separation, and debris removal of cereal crops in one operation, directly obtaining the grains from the field. The threshing drum is the core working component of the combine harvester, and its operational stability directly affects the threshing quality and the equipment's lifespan.

[0003] During combine harvester operation, the feed rate (the amount of crop entering the threshing unit per unit time) dynamically changes due to factors such as crop density, field conditions, and travel speed. When the feed rate suddenly increases, the load on the threshing drum increases sharply, leading to a significant increase in drum vibration amplitude. If the vibration exceeds a reasonable range, it will not only reduce threshing efficiency and increase grain breakage rate, but may also cause serious malfunctions such as collision between the threshing drum and the concave screen, bearing damage, or even drum breakage, shortening the equipment's service life.

[0004] In existing technologies, vibration reduction measures for combine harvesters mainly employ passive vibration damping structures, such as rubber damping pads or ordinary spring dampers installed at the threshing drum mounting base. The damping parameters of these passive damping components are fixed and cannot be dynamically adjusted according to real-time changes in feed rate. When the feed rate changes abruptly, the damper with fixed parameters cannot provide sufficient damping force to suppress the instantaneous severe vibration, resulting in limited vibration reduction effectiveness.

[0005] Furthermore, while some combine harvesters are equipped with feed rate monitoring sensors, these sensors are typically only used to provide operators with alerts or control travel speed, and are not integrated with the vibration damping system of the threshing drum for coordinated control. This makes it difficult for operators to respond promptly to rapid changes in the feed rate and to manually adjust damping parameters in a short time to handle unexpected situations.

[0006] Therefore, there is an urgent need for a vibration reduction method and system that can monitor changes in feed rate in real time and dynamically adjust damper parameters accordingly, so that the combine harvester can always maintain the stable operation of the threshing drum under dynamically changing feed rate conditions. Summary of the Invention

[0007] To address the aforementioned technical problems, this invention provides a vibration reduction method and system for a combine harvester damper that monitors changes in feed rate, effectively suppressing severe vibrations of the threshing drum, preventing equipment damage, and extending the service life of the combine harvester.

[0008] The present invention achieves the above-mentioned technical objectives through the following technical means.

[0009] A vibration reduction method for a combine harvester damper that monitors changes in feed rate includes the following steps:

[0010] Step S1: Install adjustable damper systems between the threshing drum and the concave screen, and between the threshing drum and the drum cover plate of the combine harvester.

[0011] Step S2: Install sensors in key parts of the combine harvester's feeding system to monitor relevant parameters related to changes in the feeding amount in real time;

[0012] Step S3: Based on the real-time feed data monitored by the sensor, and combined with the pre-set mapping relationship model between the feed amount and the damper parameters, determine the target damping parameter, and dynamically adjust the damping parameter of the adjustable damper system to the target value; the mapping relationship model is obtained by fitting experimental data and is used to determine the optimal damping parameter based on the real-time feed amount.

[0013] Step S4: When the change rate or statistical characteristics of the sensor data exceed the preset threshold and it is determined that a sudden change has occurred in the feed amount, the control system immediately activates the emergency adjustment strategy and adjusts the damping parameter of the damper to a safe value that adapts to the sudden change in feed amount within a preset time.

[0014] Step S5: Continuously monitor changes in feed rate and fine-tune the damper damping parameters in real time based on new monitoring data.

[0015] In the above scheme, the sensor includes at least one of a torque sensor, a pressure sensor, or a thickness sensor;

[0016] The torque sensor is installed on the shaft of the header pusher to monitor the torque changes caused by changes in the feed rate during the pushing process.

[0017] The pressure sensor is installed below the inclined conveyor at the grain layer location to sense the pressure of the grain layer on the conveyor; the thickness sensor is installed near the threshing drum shaft to measure the thickness of the grain layer around the threshing drum.

[0018] In the above scheme, the adjustable damper system is an electromagnetic damper system, including an electromagnetic damper, a hydraulic pump, a solenoid valve, and a motor;

[0019] The hydraulic pump is connected to the electromagnetic damper via a hydraulic pipeline. The solenoid valve is connected in series on the hydraulic pipeline between the hydraulic pump and the electromagnetic damper to control the on / off state and flow rate of the oil circuit. The motor is connected to the hydraulic pump via a coupling, and the motor is also electrically connected to the component in the electromagnetic damper that generates the magnetic field to adjust the magnetic field strength. The dynamic adjustment of the damping parameters is achieved by controlling at least one of the following methods: the speed of the motor, the opening degree of the solenoid valve, and the excitation current of the electromagnetic damper.

[0020] In the above scheme, the mapping relationship model is a multi-input polynomial model, and its expression is:

[0021]

[0022] Where C is the optimal damping coefficient of the damper, Q is the real-time feed rate, w is the moisture content of the rice, v is the feed speed, and n is the drum rotation speed. All are fitting coefficients. For constant terms, The coefficients for the linear term of the feed amount are: The fitting coefficients are the quadratic terms of the feed amount. The coefficients for the cubic term of the feed amount are: This is the moisture content correction factor. This is a correction factor for the feed rate. The drum speed correction coefficient and the fitting coefficient were both obtained by fitting the experimental data using the least squares method.

[0023] In the above scheme, the construction of the pre-set mapping relationship model between the feed amount and the damper parameters specifically includes the following steps:

[0024] A combine harvester threshing experiment was conducted under different rice varieties, moisture contents, and feeding speeds to record the damping parameters of the damper that minimized the vibration of the threshing drum under different feeding rates.

[0025] The experimental data were organized and analyzed, and the mapping relationship model was established using data fitting methods;

[0026] The established mapping model was validated and optimized. The model was tested using additional experimental data, and the model parameters were adjusted based on the test results.

[0027] In the above scheme, the safety value in the emergency adjustment strategy is the damping parameter that ensures the vibration amplitude of the threshing drum does not exceed the maximum allowable value of the equipment.

[0028] In the above scheme, during the process of continuously monitoring the change in feed rate and finely adjusting the damping parameters of the damper in real time, a closed-loop control algorithm is adopted. Based on the deviation between the current monitoring data and the target feed rate, the damping parameters are dynamically adjusted so that the actual feed rate gradually approaches the target feed rate and the vibration amplitude of the threshing drum is maintained within the allowable range. The target feed rate is the ideal feed rate set according to the operation requirements.

[0029] A vibration reduction system for a combine harvester damper that monitors changes in feed rate, used to implement the aforementioned vibration reduction method for a combine harvester damper that monitors changes in feed rate, includes an adjustable damper system, a data acquisition module, a data preprocessing module, a feature extraction module, a mutation determination module, a parameter mapping module, and a control and feedback module.

[0030] The adjustable damper system is installed between the threshing drum and the concave screen of the combine harvester, and between the threshing drum and the drum cover plate, to provide adjustable damping force.

[0031] The data acquisition module is used to acquire raw monitoring data from sensors installed on the combine harvester;

[0032] The data preprocessing module is used to filter and normalize the collected raw data;

[0033] The feature extraction module is used to extract feature information reflecting the trend of feed change from the preprocessed data, including at least the rate of change of the data.

[0034] The mutation determination module determines whether the feeding amount has mutated based on a preset threshold and extracted feature information.

[0035] The parameter mapping module stores the mapping relationship model between the feed amount and the damper parameters, which is used to determine the target damping parameters based on the current feed amount.

[0036] When the control and feedback module determines that a sudden change has occurred in the feed rate, it sends an adjustment command to the adjustable damper system and continuously monitors the operating status for feedback optimization after adjustment.

[0037] In the above scheme, the feature extraction module specifically includes a rate of change calculation submodule and a statistical feature calculation submodule;

[0038] The rate of change calculation submodule calculates the rate of change of torque, pressure and thickness data respectively;

[0039] The statistical feature calculation submodule is used to calculate the mean, variance, and extreme values ​​of torque, pressure, and thickness data over a certain period of time.

[0040] In the above scheme, the mutation determination module specifically includes a threshold setting submodule, a multi-sensor fusion determination submodule, and a time window determination submodule;

[0041] The threshold setting submodule sets thresholds for torque, pressure, and thickness change rate, as well as thresholds for statistical characteristics, based on the historical operating data and experimental results of the combine harvester.

[0042] The multi-sensor fusion judgment submodule simultaneously monitors the data changes of three sensors: torque, pressure, and thickness. When the data change rate or statistical characteristics of at least two sensors exceed their set thresholds, it is determined that a sudden change has occurred in the feeding amount.

[0043] The time window determination submodule sets a time window and continuously monitors the changes in sensor data within the time window.

[0044] Compared with the prior art, the beneficial effects of the present invention are:

[0045] 1. This invention dynamically adjusts the damping parameters of the adjustable damper system by real-time monitoring of feed changes and combining them with a pre-established mapping relationship model. This allows for rapid adjustment of the damping to a safe value when the feed changes abruptly, effectively suppressing severe vibration of the threshing drum and keeping its vibration within a reasonable range. This prevents equipment damage caused by excessive vibration and extends the service life of the combine harvester.

[0046] 2. By continuously monitoring and accurately judging the feed rate, this invention can promptly identify potential factors that may cause equipment failure. When sudden changes in the feed rate lead to risks such as insufficient threshing or blockage, the damping parameters can be adjusted in a timely manner to prevent failures, reduce equipment maintenance frequency and downtime, and improve equipment reliability and availability.

[0047] 3. This invention combines real-time monitoring of feed rate with dynamic adjustment of damper, forming a control system from sensing to execution to feedback. This overcomes the shortcomings of existing passive damping elements that cannot adapt to sudden changes in feed rate, and significantly improves the operational stability and adaptability of combine harvesters under complex working conditions. Attached Figure Description

[0048] Figure 1 This is a schematic diagram of a vibration reduction method for a combine harvester damper that monitors changes in feed rate, according to an embodiment of the present invention.

[0049] Figure 2 This is a structural block diagram of a damping system for a combine harvester damper that monitors changes in feed rate, according to one embodiment of the present invention.

[0050] Figure 3 This is a schematic diagram of the internal structure of a feature extraction module according to an embodiment of the present invention;

[0051] Figure 4 This is a schematic diagram of the internal structure of a mutation determination module according to an embodiment of the present invention;

[0052] Figure 5 This is a schematic diagram of the internal structure of the control and feedback module according to one embodiment of the present invention. Detailed Implementation

[0053] The embodiments of the present invention are described in detail below. The embodiments described below with reference to the accompanying drawings are exemplary and intended to explain the present invention, and should not be construed as limiting the present invention.

[0054] In this invention, unless otherwise explicitly specified and limited, the terms "installation," "connection," "linking," and "fixing," etc., should be interpreted broadly. For example, they can refer to a fixed connection, a detachable connection, or an integral connection; they can refer to a mechanical connection or an electrical connection; they can refer to a direct connection or an indirect connection through an intermediate medium; and they can refer to the internal connection of two components. Those skilled in the art can understand the specific meaning of the above terms in this invention according to the specific circumstances.

[0055] like Figure 1 The diagram illustrates a preferred embodiment of the vibration reduction method for a combine harvester damper that monitors changes in feed rate according to the present invention. The vibration reduction method for the combine harvester damper that monitors changes in feed rate includes the following steps:

[0056] Step S1: Install adjustable damper systems between the threshing drum and the concave screen, and between the threshing drum and the drum cover plate of the combine harvester.

[0057] As one specific implementation, the adjustable damper system can adopt an adjustable damper structure based on the rice stalk winding characteristics. Its direction of action has an angle β with the vertical direction and can be decomposed into two mutually orthogonal adjustable damper systems. The adjustable damper system between the threshing drum and the drum cover plate can be set to be perpendicular to the connection direction between the drum top cover and the drum.

[0058] Step S2: Install sensors in key parts of the combine harvester's feeding system to monitor relevant parameters related to changes in the feeding amount in real time;

[0059] In one specific implementation, the sensor includes at least one of a torque sensor, a pressure sensor, or a thickness sensor. The torque sensor is mounted on the header pusher shaft to monitor torque changes caused by variations in the feed rate during pushing. The pressure sensor is installed below the inclined conveyor at the grain layer location, reflecting the feed rate by sensing the pressure of the grain layer on the conveyor. The thickness sensor is installed near the threshing drum shaft, indirectly obtaining feed rate information by measuring the thickness of the grain layer around the threshing drum. All of the above sensors are high-precision, high-reliability industrial-grade sensors, whose measurement accuracy meets the accuracy requirements for feed rate monitoring during combine harvester operation. Furthermore, the sensors possess waterproof, dustproof, and anti-interference characteristics to adapt to complex field operating environments.

[0060] Step S3: Based on the real-time feed data monitored by the sensor, and combined with the pre-set mapping relationship model between the feed amount and the damper parameters, determine the target damping parameter, and dynamically adjust the damping parameter of the adjustable damper system to the target value; the mapping relationship model is obtained by fitting experimental data and is used to determine the optimal damping parameter based on the real-time feed amount.

[0061] As one specific implementation, the mapping relationship model is a multi-input polynomial model, and its expression is:

[0062]

[0063] Where C is the optimal damping coefficient of the damper (N·s / m), Q is the real-time feed rate (kg / s), w is the moisture content of rice (%), v is the feed speed (m / s), and n is the drum rotation speed (r / min). The fitting coefficients are respectively... coefficient, For constant terms, The coefficients for the linear term of the feed amount are: The fitting coefficients are the quadratic terms of the feed amount. The coefficients for the cubic term of the feed amount are: This is the moisture content correction factor. This is a correction factor for the feed rate. The drum speed correction coefficient and fitting coefficients were obtained by fitting experimental data using the least squares method. Different coefficient values ​​can be calibrated for different rice varieties. Those skilled in the art can record the optimal damping coefficient under different working conditions through a limited number of field or bench experiments, and then fit the above coefficients. For different rice varieties, the corresponding coefficient values ​​can be calibrated through bench or field experiments. Taking japonica rice as an example, within the working condition range of 18%~24% moisture content, feeding speed 0.8~2.0 m / s, and drum speed 600~1200 r / min, the example coefficients obtained by fitting experimental data are as follows:

[0064] = 22.64, = -3.48, =0.54, = -0.02, = 0.136, = -0.095, =0.068.

[0065] For other rice varieties, the same experimental method can be used for calibration, which will not be listed here.

[0066] As one specific implementation method, constructing a pre-defined mapping model between the feed rate and damper parameters includes the following steps:

[0067] A combine harvester threshing experiment was conducted under different rice varieties, moisture content, feeding speed and other conditions. The damping parameters of the damper that minimized the vibration of the threshing drum under different feeding amounts were recorded.

[0068] The experimental data were organized and analyzed, and a data fitting method was used to establish a mapping relationship model between the feed rate and the optimal damping parameters of the damper.

[0069] The established mapping model was validated and optimized. The model was tested using additional experimental data, and the model parameters were adjusted based on the test results.

[0070] As another specific implementation, the specific steps for dynamically adjusting the damping parameters of the adjustable damper system are as follows: This is achieved by controlling the solenoid valve, motor, or hydraulic pump in the damper; when it is necessary to increase the damping, the solenoid valve is opened wider, the motor speed is increased, or the hydraulic pump output pressure is increased; when it is necessary to decrease the damping, the opposite operation is performed. Furthermore, the control system has fault diagnosis and protection functions. When a fault is detected in the solenoid valve, motor, or hydraulic pump, an alarm is immediately issued and corresponding protective measures are taken, such as switching to the backup damping control mode or stopping the threshing operation.

[0071] When establishing a model that maps feed rate to damper parameters, in addition to considering rice variety, water content, and feeding rate, the influence of environmental factors such as ambient temperature and humidity on feed rate and damper parameters can also be considered to make the model more comprehensive and accurate.

[0072] Step S4: When the rate of change or statistical characteristics of the sensor data exceed a preset threshold, indicating a sudden change in the feeding amount, the control system immediately activates an emergency adjustment strategy. Within a preset short time, the damping parameters of the damper are adjusted to a safe value to accommodate the sudden change in feeding amount, preventing damage to the equipment due to excessive vibration of the threshing drum caused by the sudden change in feeding amount. The preset short time is determined based on the mechanical characteristics of the combine harvester and the feeding characteristics of rice, and as a preferred option, it can be set to 0.5-2 seconds.

[0073] As a specific implementation method, the specific steps for monitoring sudden changes in feed intake are as follows:

[0074] Step 1: Based on the historical operating data and experimental results of the combine harvester, set thresholds for the rate of change of torque, pressure, and thickness (the thresholds can be set to 1.5 to 3 times the maximum rate of change of sensor data during normal operation of the combine harvester at rated feed rate; those skilled in the art can calibrate this through a limited number of tests). When the rate of change of a certain physical quantity exceeds its set threshold, it is considered that a sudden change in the feed rate may have occurred. For example, the threshold for the rate of change of torque is set to 10 N·m / s; when the rate of change of torque exceeds this value, a sudden change judgment is triggered.

[0075] Step 2: Set thresholds for statistical characteristics of torque, pressure, and thickness, such as mean thresholds and variance thresholds. When a statistical characteristic exceeds its set threshold, it is considered that the feed rate may have abruptly changed. For example, setting the mean pressure threshold to 500N means that if the mean pressure exceeds this value, it indicates that the feed rate may have increased significantly.

[0076] Step 3: Comprehensively consider the data changes from the torque, pressure, and thickness sensors. When the rate of change or statistical characteristics of data from at least two sensors exceed their set thresholds, a sudden change in the feed rate is determined. This improves the accuracy and reliability of abrupt change detection and avoids misjudgments caused by a single sensor malfunction or interference.

[0077] Step 4: Set a time window (e.g., 2-5 seconds) and continuously monitor changes in sensor data within the time window. If the change in sensor data meets the abrupt change criteria within the time window, then a sudden change in the feed rate is confirmed. This avoids misjudging a sudden change in feed rate due to instantaneous data fluctuations.

[0078] In step S4, the emergency adjustment strategy specifically involves adjusting the damping parameters of the damper to a safe value to accommodate sudden changes in feed rate. This safe value ensures that the vibration amplitude of the threshing drum does not exceed the maximum allowable value of the equipment. For example, the maximum allowable vibration amplitude of the equipment can be obtained through combine harvester factory testing or finite element analysis, and can be taken as 5 mm. Furthermore, the feed rate is continuously monitored. If the feed rate remains stable over a period of time, the damping parameters are gradually adjusted back to the optimal value under normal operating conditions to prevent the damper from being in a high-damping state for extended periods, which could affect the normal operation and service life of the equipment.

[0079] Step S5: Continuously monitor changes in feed rate and fine-tune the damper damping parameters in real time based on new monitoring data.

[0080] In one specific implementation, step S5 aims to ensure the combine harvester maintains a stable threshing operation under dynamically changing feed rates, reducing the impact of vibration on the equipment and improving threshing quality and operational efficiency. During continuous monitoring and fine-tuning, a closed-loop control algorithm is employed to dynamically adjust damping parameters based on the deviation between the current monitoring data and the target feed rate, gradually bringing the actual feed rate closer to the target feed rate while maintaining stable vibration of the threshing drum. The target feed rate is an ideal feed rate set according to operational requirements.

[0081] As a more specific preferred option, the closed-loop control algorithm can employ a proportional-integral-derivative (PID) control algorithm or a fuzzy control algorithm. When using a PID control algorithm, the damping parameter can be precisely adjusted by reasonably setting the proportional coefficient, integral time, and derivative time. When using a fuzzy control algorithm, the adjustment amount of the damping parameter is determined by fuzzy inference rules based on the input feed deviation and the rate of change of the deviation, thereby improving the adaptability of the control system to complex operating conditions.

[0082] Reference Figure 2 As shown, a vibration reduction system for a combine harvester damper that monitors changes in feed rate is used to implement the vibration reduction method for a combine harvester damper that monitors changes in feed rate as described above, comprising:

[0083] The system includes an adjustable damper system, a data acquisition module, a data preprocessing module, a feature extraction module, a mutation detection module, a parameter mapping module, and a control and feedback module.

[0084] In one specific implementation, the adjustable damper system is an electromagnetic damper system, comprising an electromagnetic damper, a hydraulic pump, a solenoid valve, and a motor. The hydraulic pump is connected to the electromagnetic damper via a hydraulic pipeline, and the solenoid valve is connected in series on the hydraulic pipeline between the hydraulic pump and the electromagnetic damper to control the on / off state and flow rate of the oil circuit. The motor is connected to the hydraulic pump via a coupling, and the motor is also electrically connected to the component in the electromagnetic damper used to generate a magnetic field to adjust the magnetic field strength. The dynamic adjustment of the damping parameters is achieved by controlling at least one of the following methods: the motor speed, the opening degree of the solenoid valve, and the excitation current of the electromagnetic damper.

[0085] The adjustable damper system is installed between the threshing drum and the concave screen of the combine harvester, and between the threshing drum and the drum cover plate, to provide adjustable damping force.

[0086] The data acquisition module is used to acquire raw monitoring data from sensors installed on the combine harvester. In one specific implementation, the data acquisition module includes:

[0087] Torque sensor submodule: Installed on the header pusher shaft, it is used to measure the torque value on the header pusher shaft in real time and convert the physical quantity of torque into an electrical signal;

[0088] Pressure sensor submodule: Located below the grain layer of the inclined conveyor, it senses the pressure of the grain layer on the bottom of the conveyor and converts the pressure signal into an electrical signal;

[0089] Thickness sensor submodule: Installed near the threshing drum shaft, it measures the thickness of the grain layer around the threshing drum by transmitting and receiving signals (such as ultrasonic waves, lasers, etc.) and converts the thickness information into an electrical signal;

[0090] Data acquisition card module: Connected to the above sensors, it collects and converts the electrical signals output by the sensors at a certain sampling frequency (e.g., 10-20 times per second) to convert analog signals into digital signals.

[0091] The data preprocessing module is used to filter and normalize the collected raw data to remove noise and interference. As one specific implementation, the data preprocessing module specifically includes:

[0092] Filtering submodule: Uses digital filtering algorithms (such as mean filtering, median filtering, Kalman filtering, etc.) to filter the collected torque, pressure and thickness data. For example, the mean filtering submodule calculates the average value of the data over a certain period of time, smooths the data, and reduces the impact of random noise.

[0093] The data normalization submodule normalizes the filtered data and maps it to... Within the range, this makes the data from different sensors comparable.

[0094] The feature extraction module is used to extract feature information reflecting the trend of feed change from the preprocessed data, including at least the rate of change of the data.

[0095] As one specific implementation, the feature extraction module may also include a statistical feature calculation submodule, used to calculate statistical features such as mean, variance, and extreme values.

[0096] The mutation determination module determines whether a mutation has occurred in the feeding amount based on a preset threshold and extracted feature information.

[0097] The parameter mapping module stores a mapping model between the feed amount and the damper parameters, which is used to determine the target damping parameters based on the current feed amount.

[0098] When the control and feedback module determines that a sudden change has occurred in the feed rate, it sends an adjustment command to the adjustable damper system and continuously monitors the operating status for feedback optimization after adjustment.

[0099] Reference Figure 3 As shown, in one specific implementation, the feature extraction module specifically includes a rate of change calculation submodule and a statistical feature calculation submodule:

[0100] The rate of change calculation submodule calculates the rate of change of torque, pressure and thickness data respectively; for example, for torque data, this submodule calculates the ratio of the difference of torque values ​​at two adjacent sampling times to the time interval to obtain the torque rate of change;

[0101] The statistical feature calculation submodule is used to calculate the mean, variance, extreme values, and other statistical features of torque, pressure, and thickness data over a certain period of time. For example, the mean calculation submodule calculates the average value of the data over a period of time, reflecting the average size of the feed amount; the variance calculation submodule calculates the variance of the data, reflecting the degree of fluctuation in the feed amount.

[0102] Reference Figure 4 As shown, in one specific implementation, the mutation determination module specifically includes a threshold setting submodule, a multi-sensor fusion determination submodule, and a time window determination submodule:

[0103] The threshold setting submodule sets thresholds for torque, pressure, and thickness change rate, as well as thresholds for statistical characteristics, based on the historical operating data and experimental results of the combine harvester. For example, the threshold for torque change rate is set to 10 N·m / s, and the threshold for average pressure is set to 500 N.

[0104] The multi-sensor fusion judgment submodule simultaneously monitors the data changes of three sensors: torque, pressure, and thickness. When the data change rate or statistical characteristics of at least two sensors exceed their set thresholds, it is determined that a sudden change has occurred in the feeding amount.

[0105] The time window determination submodule sets a time window (e.g., 2-5 seconds) and continuously monitors the changes in sensor data within the time window. If the changes in sensor data meet the change determination conditions within the time window, it is confirmed that a change in the feeding amount has occurred, thus avoiding misjudgment due to instantaneous data fluctuations.

[0106] Reference Figure 5 As shown, in one specific implementation, the control and feedback module specifically includes an instruction sending submodule and a feedback monitoring submodule:

[0107] When the mutation determination module confirms that a sudden change has occurred in the feed amount, the instruction sending submodule sends a corresponding adjustment instruction to the adjustable damper system.

[0108] The feedback monitoring submodule continuously monitors the operating status of the combine harvester after adjustment, including the vibration of the threshing drum and changes in the feed rate. The monitored data is fed back to the parameter mapping module or the control and feedback module so that the damper parameters can be further optimized and adjusted to ensure that the combine harvester maintains a stable threshing operation under dynamically changing feed rate conditions.

[0109] The foregoing has shown and described the basic principles, main features, and advantages of the present invention. Those skilled in the art should understand that the present invention is not limited to the above embodiments. The embodiments and descriptions in the specification are merely principles of the invention. Various changes and modifications can be made to the invention without departing from its spirit and scope, and all such changes and modifications fall within the scope of the claimed invention. The scope of protection claimed by the appended claims and their equivalents is defined.

Claims

1. A vibration reduction method for a combine harvester damper that monitors changes in feed rate, characterized in that, Includes the following steps: Step S1: Install adjustable damper systems between the threshing drum and the concave screen, and between the threshing drum and the drum cover plate of the combine harvester. Step S2: Install sensors in key parts of the combine harvester's feeding system to monitor relevant parameters related to changes in the feeding amount in real time; Step S3: Based on the real-time feed data monitored by the sensor, and combined with the pre-set mapping relationship model between the feed amount and the damper parameters, determine the target damping parameter, and dynamically adjust the damping parameter of the adjustable damper system to the target value; the mapping relationship model is obtained by fitting experimental data and is used to determine the optimal damping parameter based on the real-time feed amount. Step S4: When the change rate or statistical characteristics of the sensor data exceed the preset threshold and it is determined that a sudden change has occurred in the feed amount, the control system immediately activates the emergency adjustment strategy and adjusts the damping parameter of the damper to a safe value that adapts to the sudden change in feed amount within a preset time. Step S5: Continuously monitor changes in feed rate and fine-tune the damper damping parameters in real time based on new monitoring data.

2. The vibration reduction method for a combine harvester damper monitoring feed rate changes according to claim 1, characterized in that, The sensor includes at least one of a torque sensor, a pressure sensor, or a thickness sensor; The torque sensor is installed on the shaft of the header pusher to monitor the torque changes caused by changes in the feed rate during the pushing process. The pressure sensor is installed below the inclined conveyor at the grain layer location to sense the pressure of the grain layer on the conveyor; the thickness sensor is installed near the threshing drum shaft to measure the thickness of the grain layer around the threshing drum.

3. The vibration reduction method for a combine harvester damper monitoring feed rate changes according to claim 1, characterized in that, The adjustable damper system is an electromagnetic damper system, including an electromagnetic damper, a hydraulic pump, a solenoid valve, and a motor; The hydraulic pump is connected to the electromagnetic damper via a hydraulic pipeline. The solenoid valve is connected in series on the hydraulic pipeline between the hydraulic pump and the electromagnetic damper to control the on / off state and flow rate of the oil circuit. The motor is connected to the hydraulic pump via a coupling, and the motor is also electrically connected to the component in the electromagnetic damper that generates the magnetic field to adjust the magnetic field strength. The dynamic adjustment of the damping parameters is achieved by controlling at least one of the following methods: the speed of the motor, the opening degree of the solenoid valve, and the excitation current of the electromagnetic damper.

4. The vibration reduction method for a combine harvester damper monitoring feed rate changes according to claim 1, characterized in that, The mapping relationship model is a multi-input multinomial model, and its expression is: Where C is the optimal damping coefficient of the damper, Q is the real-time feed rate, w is the moisture content of the rice, v is the feed speed, and n is the drum rotation speed. All are fitting coefficients. For constant terms, The coefficients for the linear term of the feed amount are: The fitting coefficients are the quadratic terms of the feed amount. The coefficients for the cubic term of the feed amount are: This is the moisture content correction factor. This is a correction factor for the feed rate. Drum speed correction factor.

5. The vibration reduction method for a combine harvester damper monitoring feed rate changes according to claim 1, characterized in that, The process of constructing a pre-defined mapping model between the feed rate and damper parameters specifically includes the following steps: A combine harvester threshing experiment was conducted under different rice varieties, moisture contents, and feeding speeds to record the damping parameters of the damper that minimized the vibration of the threshing drum under different feeding rates. The experimental data were organized and analyzed, and the mapping relationship model was established using data fitting methods; The established mapping model was validated and optimized. The model was tested using additional experimental data, and the model parameters were adjusted based on the test results.

6. The vibration reduction method for a combine harvester damper monitoring feed rate changes according to claim 1, characterized in that, The safety value in the emergency adjustment strategy is the damping parameter that ensures the vibration amplitude of the threshing drum does not exceed the maximum allowable value of the equipment.

7. The vibration reduction method for a combine harvester damper monitoring feed rate changes according to claim 1, characterized in that, During the process of continuously monitoring changes in the feed rate and fine-tuning the damper parameters in real time, a closed-loop control algorithm is adopted. Based on the deviation between the current monitoring data and the target feed rate, the damping parameters are dynamically adjusted so that the actual feed rate gradually approaches the target feed rate and the vibration amplitude of the threshing drum is maintained within the allowable range. The target feed rate is the ideal feed rate set according to the operation requirements.

8. A vibration reduction system for a combine harvester damper that monitors changes in feed rate, used to implement the vibration reduction method for a combine harvester damper that monitors changes in feed rate as described in any one of claims 1-7, characterized in that, It includes an adjustable damper system, a data acquisition module, a data preprocessing module, a feature extraction module, a mutation detection module, a parameter mapping module, and a control and feedback module; The adjustable damper system is installed between the threshing drum and the concave screen of the combine harvester, and between the threshing drum and the drum cover plate, to provide adjustable damping force. The data acquisition module is used to acquire raw monitoring data from sensors installed on the combine harvester; The data preprocessing module is used to filter and normalize the collected raw data; The feature extraction module is used to extract feature information reflecting the trend of feed change from the preprocessed data, including at least the rate of change of the data. The mutation determination module determines whether the feeding amount has mutated based on a preset threshold and extracted feature information. The parameter mapping module stores a mapping relationship model between the feed amount and the damper parameters, which is used to determine the target damping parameters based on the current feed amount. When the control and feedback module determines that a sudden change has occurred in the feed amount, it sends an adjustment command to the adjustable damper system and continuously monitors the operating status for feedback optimization after adjustment.

9. The vibration reduction system for a combine harvester damper monitoring feed rate changes according to claim 8, characterized in that, The feature extraction module specifically includes a rate of change calculation submodule and a statistical feature calculation submodule; The rate of change calculation submodule calculates the rate of change of torque, pressure, and thickness data respectively; The statistical feature calculation submodule is used to calculate the mean, variance, and extreme values ​​of torque, pressure, and thickness data over a certain period of time.

10. The vibration reduction system for a combine harvester damper monitoring feed rate changes according to claim 8, characterized in that, The mutation determination module specifically includes a threshold setting submodule, a multi-sensor fusion determination submodule, and a time window determination submodule; The threshold setting submodule sets thresholds for torque, pressure, and thickness change rate, as well as thresholds for statistical characteristics, based on the historical operating data and experimental results of the combine harvester. The multi-sensor fusion judgment submodule simultaneously monitors the data changes of three sensors: torque, pressure, and thickness. When the data change rate or statistical characteristics of at least two sensors exceed their set thresholds, it is determined that a sudden change has occurred in the feeding amount. The time window determination submodule sets a time window and continuously monitors the changes in sensor data within the time window.

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