The Design and Experimentation of EVPIVS-PID Harvesters’ Header Height Control System Based on Sensor Ground Profiling Monitoring

Ranbing Yang,Xiantao Zha,Jian Zhang,Zhichao Wang,Yiren Qing,Shuqi Shang

doi:10.3390/agriculture12020282

Ranbing Yang, Xiantao Zha + Show 4 more

Open Access

https://doi.org/10.3390/agriculture12020282

Copy DOI

Journal: Agriculture	Publication Date: Feb 16, 2022
Citations: 7	License type: CC BY 4.0

Affiliation: Qingdao Agricultural University, Hainan University

Abstract

In this paper, an adaptive header height control system is designed. Through the influence of the natural frequency, ωn, and damping ratio, ζ, on the system’s dynamic index, the optimal hydraulic cylinder parameters are determined comprehensively. The ground profiling monitoring mechanism and the header height feedback mechanism based on the angle sensor are designed. An integrated electromagnetic proportional valve was installed to replace the original header-controlled, electronically-controlled reversing valve, and a PWM (pulse width modulation) control-simulated counterweight test was performed. The limitation of traditional PID facing the integral saturation state is analysed, and a new EVPIVS-PID algorithm is proposed and simulated. Through the analysis of multiple groups of sample data in the field test, the accuracy of the control system in the header height control and output PWM value is demonstrated. The effectiveness of the EVPIVS-PID control algorithm to change the corresponding PID parameters based on the monitoring operation speed is analysed and demonstrated. Experiments show that the adaptive control system of header height based on ground profiling has a stable control effect. The height error of cutting stubble is not more than 2 cm, which can meet the requirements of a 5–11 km/h harvesting speed in plain areas.

Highlights

In grain harvesting operations, 75% of the harvest losses are caused by improper height adjustment of the cutting table [1,2,3]
If the harvester header is too high, the stubble height will increase, which will aggravate the loss of harvesting links [4,5], and even affect the subsequent seeding quality
A profiling roll and an angle sensor were installed at the bottom of the header to monitor the fluctuations of the ground and serve as a signal input device for the electro-hydraulic control system

Summary

Introduction

75% of the harvest losses are caused by improper height adjustment of the cutting table [1,2,3]. If the harvester header is too high, the stubble height will increase, which will aggravate the loss of harvesting links [4,5], and even affect the subsequent seeding quality. With the increasing speed of grain combine harvesting operations, the way drivers manually adjust harvester parameters has been unable to meet the current harvester needs [6]. The adaptive control function of the header has been regarded as an effective method to reduce the harvest loss, reduce the driver’s work intensity, and avoid the damage of the header equipment [7]. In the 1970s, many foreign combine harvester companies began to develop automatic header control systems [8]. The Canadian company Syfogg used the magnetic suction sensing mechanism, relying on the control principle of the swing of the fan-shaped iron plate to attract the corresponding contacts, and to pull in the circuit to generate the action

Methods

Results

Conclusion