Design of an Adaptive Height Control System for Sugarcane Harvester Header
Abstract
:1. Introduction
2. Materials and Methods
2.1. Overall System Structure
2.2. Design of Sugarcane Cutting Test Bench
2.3. Ground Height Detection
2.3.1. Data Acquisition
2.3.2. Terrain Inversion
2.3.3. Identification of Sugarcane Growth Point Height
2.4. Control System Design
2.4.1. I/O Port Allocation
2.4.2. Data Acquisition and Processing
2.4.3. Design of Cutting Header Height Control Logic
2.4.4. Target Height Error Range Program
2.4.5. Cutting Height Adaptive Control Process
3. Results and Discussion
3.1. Ground Height Acquisition with LiDAR
3.2. Control Accuracy
3.3. Discussion
4. Conclusions
Author Contributions
Funding
Data Availability Statement
Conflicts of Interest
References
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Components | Parameters |
---|---|
Gantry main frame | Overall dimensions: length 7.5 m, width 1.5 m |
Load: 1200 kg | |
Material: carbon steel Q235A | |
Lifting device | Maximum load: 2000 kg |
Cylinder diameter: 80 mm | |
Maximum stroke: 300 mm | |
Tilting mechanism | Tilt angle: −15°~+15° |
Hydraulic system | Hydraulic system flow rate: 120 L/min |
Hydraulic pump motor power: 25 kw | |
Speed: 1200 r/min | |
Chain conveyor line | Length: 6 m |
Motor power: 1.5 kw | |
Conveying speed: maximum 1.38 m/s | |
Sugarcane fixing fixture | Clamping force: 850 N |
Clamp sleeve diameter: 20~50 mm | |
Plant spacing: 150~300 mm |
I/O Type | Port | Connected Device | Description |
---|---|---|---|
DI | I0.0 | Lifting hydraulic cylinder | Control the rise manually into position |
DI | I0.1 | Lifting hydraulic cylinder | Control the drop manually into position |
DQ | Q0.0 | Left header hydraulic valve | Control the left header’s upward movement |
DQ | Q0.1 | Left header hydraulic valve | Control the left header’s downward movement |
DQ | Q0.2 | Right header hydraulic valve | Control the right header’s upward movement |
DQ | Q0.3 | Right header hydraulic valve | Control the right header’s downward movement |
AI | IW64 | Draw-wire displacement sensor | Receive analog signals of the header height |
AI | IW100 | LiDAR | Receive analog signals of the terrain height |
Obstruction Condition | Measurement Point | Cutting Depth into Soil (cm) | Actual Ground Height (cm) | Cutting Height (cm) | Time to Reach Steady State (s) | Deviation (cm) |
---|---|---|---|---|---|---|
No obstruction | 1 | 0 | 70.95 | 71.02 | 2.78 | 0.07 |
2 | 0 | 77.46 | 77.86 | 2.28 | 0.4 | |
3 | 0 | 70.92 | 70.13 | 2.39 | −0.79 | |
4 | 0 | 73.50 | 73.79 | 2.25 | 0.29 | |
Obstructed by weeds | 1 | 0 | 70.51 | 70.84 | 2.23 | 0.33 |
2 | 0 | 73.76 | 73.62 | 2.02 | −0.14 | |
3 | 0 | 75.30 | 75.55 | 2.15 | 0.25 | |
4 | 0 | 77.39 | 77.04 | 2.07 | −0.35 | |
Obstructed by weeds and sugarcane leaves | 1 | 0 | 77.16 | 77.59 | 2.98 | 0.43 |
2 | 0 | 72.33 | 72.46 | 2.24 | 0.13 | |
3 | 0 | 69.85 | 69.79 | 2.16 | −0.06 | |
4 | 0 | 74.63 | 74.73 | 2.08 | 0.1 |
Obstruction Condition | Measurement Point | Cutting Depth into Soil (cm) | Actual Ground Height (cm) | Cutting Height (cm) | Time to Reach Steady State (s) | Deviation (cm) |
---|---|---|---|---|---|---|
No obstruction | 1 | −2 | 68.32 | 65.94 | 2.17 | −2.38 |
2 | −2 | 76.84 | 74.55 | 2.82 | −2.29 | |
3 | −2 | 71.25 | 69.41 | 2.03 | −1.84 | |
4 | −2 | 78.63 | 76.14 | 2.27 | −2.49 | |
Obstructed by weeds | 1 | −2 | 75.72 | 73.35 | 2.62 | −2.37 |
2 | −2 | 68.57 | 66.79 | 2.35 | −1.78 | |
3 | −2 | 78.28 | 76.08 | 2.17 | −2.20 | |
4 | −2 | 73.15 | 70.89 | 2.50 | −2.26 | |
Obstructed by weeds and sugarcane leaves | 1 | −2 | 76.81 | 74.47 | 2.14 | −2.34 |
2 | −2 | 70.36 | 68.52 | 2.17 | −1.84 | |
3 | −2 | 78.28 | 75.92 | 2.32 | −2.36 | |
4 | −2 | 73.64 | 71.23 | 2.15 | −2.41 |
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Shi, M.; Li, Y.; Pan, Y.; Lu, L.; Wei, J. Design of an Adaptive Height Control System for Sugarcane Harvester Header. Agronomy 2024, 14, 1644. https://doi.org/10.3390/agronomy14081644
Shi M, Li Y, Pan Y, Lu L, Wei J. Design of an Adaptive Height Control System for Sugarcane Harvester Header. Agronomy. 2024; 14(8):1644. https://doi.org/10.3390/agronomy14081644
Chicago/Turabian StyleShi, Meiqi, Yanzhou Li, Yingchun Pan, Linfei Lu, and Jin Wei. 2024. "Design of an Adaptive Height Control System for Sugarcane Harvester Header" Agronomy 14, no. 8: 1644. https://doi.org/10.3390/agronomy14081644