A Tillage Depth Monitoring and Control System for the Independent Adjustment of Each Subsoiling Shovel
Abstract
:1. Introduction
2. Materials and Methods
2.1. Description of the Single Subsoiling Assembly
2.2. Design of the Tillage Depth Monitoring and Control System
2.2.1. Tillage Depth MONITORING and Control System
2.2.2. Tillage Depth Detecting by Ultrasonic Sensor
2.2.3. Tillage Depth Displaying via Interactive Touch Screen
2.3. Evaluation Experiments
2.3.1. Test Arrangement
2.3.2. Test Conditions
3. Results and Discussion
3.1. Accuracy in Detecting Tillage Depth
3.2. Tillage Depth
3.3. Transient Response Time
3.4. Advantages of the Control System
4. Conclusions
- (1)
- Comparing the tillage depth obtained by ultrasonic sensors and measured manually in the field with straw mulching, the errors at the speeds of 3 km/h, 4 km/h, and 5 km/h, respectively, were 8.35%, 8.1%, and 8.38%, which demonstrated that the errors were acceptable and the method of applying ultrasonic sensors to detect the tillage depth was reliable and accurate.
- (2)
- The mean value of the coefficient of the tillage depth stability at the speeds of 3 km/h, 4 km/h, and 5 km/h, respectively, were 97.5%, 97.9%, and 94.9%, which were far better than the standard requirement of a subsoiling machine, and indicated that higher stability of tillage depth was obtained by equipping with the tillage depth monitoring and control system.
- (3)
- The tillage depth monitoring and control system had good output response characteristics. The response time of the control system was 0.46 s. No matter that the tillage depth was less than the minimum set value or greater than the maximum set value, the system was able to accurately detect the change of the tillage depth and timely adjust the tillage depth to the set range within 1 s.
- (4)
- Compared with the unified adjustment of each row via the three-point suspension, applying the system was more advantageous to obtain the desired tillage depth and improve the stability of the tillage depth of each subsoiling shovel. The standard deviations of tillage depth obtained by the independent adjustment of a single row and unified adjustment of each row, respectively, were 38.31 and 51.52.
Author Contributions
Funding
Institutional Review Board Statement
Informed Consent Statement
Data Availability Statement
Acknowledgments
Conflicts of Interest
References
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Type of Tillage Machine | Sensor Type for Tillage Depth Detection | With or without the Function of Automatically Adjusting Tillage Depth | Mechanism for Adjusting Tillage Depth | Adjustment Type |
---|---|---|---|---|
Single tillage machine [41] | Ultrasonic sensor | Without | / | / |
Combined tillage machine [42] | Multi-sensor fusion | With | Hydraulic cylinder | Adjusting the tillage depth of a group of tillage components of the combined machine |
Combined tillage machine [43] | Prescription map combined with stroke detection sensor | With | Hydraulic cylinder | Adjusting the tillage depth of a group of tillage components of the combined machine |
[email protected] | [email protected] | |||
Single tillage machine [34] | Rotary encoder | Without | / | / |
Single tillage machine [39] | Potentiometer | Without | / | / |
Single tillage machine [32] | Potentiometer | With | Stepping motor | Adjusting the tillage depth of the whole machine |
Single tillage machine [35] | Ultrasonic sensor combined with displacement sensor | Without | / | / |
Single tillage machine (this study) | Ultrasonic sensor | With | Hydraulic cylinder | Adjusting the tillage depth of each subsoiling shovel independently |
At Forward Speed of 3 km/h | Errors (%) | At Forward Speed of 4 km/h | Errors (%) | At Forward Speed of 5 km/h | Errors (%) | ||||
---|---|---|---|---|---|---|---|---|---|
Mean Tillage Depth Obtained by Sensor (mm) | Mean Tillage Depth Measured Manually (mm) | Mean Tillage Depth Obtained by Sensor (mm) | Mean Tillage Depth Measured Manually (mm) | Mean Tillage Depth Obtained by Sensor (mm) | Mean Tillage Depth Measured Manually (mm) | ||||
First row | 417.09 | 387.04 | 7.8 | 385.65 | 354.98 | 8.6 | 381.70 | 352.23 | 8.4 |
Second row | 402.48 | 372.05 | 8.2 | 400.92 | 371.55 | 7.9 | 402.48 | 370.39 | 8.7 |
Third row | 396.40 | 365.62 | 8.4 | 421.37 | 389.22 | 8.3 | 427.61 | 397.79 | 7.5 |
Fourth row | 379.31 | 348.13 | 9.0 | 429.10 | 398.81 | 7.6 | 370.06 | 339.78 | 8.9 |
Mean | 8.35 | 8.1 | 8.38 |
Coefficient of Tillage Depth Stability (%) | 5.0 km/h | ||
---|---|---|---|
3.0 km/h | 4.0 km/h | ||
First row | 97.1 | 97.6 | 91.0 |
Second row | 97.9 | 97.6 | 96.2 |
Third row | 97.4 | 98.4 | 97.4 |
Mean | 97.5 | 97.9 | 94. 9 |
Fourth row | 97.7 | 91.5 | 97.4 |
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Lou, S.; He, J.; Lu, C.; Liu, P.; Li, H.; Zhang, Z. A Tillage Depth Monitoring and Control System for the Independent Adjustment of Each Subsoiling Shovel. Actuators 2021, 10, 250. https://doi.org/10.3390/act10100250
Lou S, He J, Lu C, Liu P, Li H, Zhang Z. A Tillage Depth Monitoring and Control System for the Independent Adjustment of Each Subsoiling Shovel. Actuators. 2021; 10(10):250. https://doi.org/10.3390/act10100250
Chicago/Turabian StyleLou, Shangyi, Jin He, Caiyun Lu, Peng Liu, Hui Li, and Zhenguo Zhang. 2021. "A Tillage Depth Monitoring and Control System for the Independent Adjustment of Each Subsoiling Shovel" Actuators 10, no. 10: 250. https://doi.org/10.3390/act10100250