Design and performance analysis of indoor calibration device for the force-measuring system of the tractor three-point hitch

IF 2.2 2区 农林科学 Q2 AGRICULTURAL ENGINEERING International Journal of Agricultural and Biological Engineering Pub Date : 2023-01-01 DOI:10.25165/j.ijabe.20231603.7455
Dong Dai, Du Chen, Xu Mao, Yawei Zhang, Yutong Li, Shumao Wang, Bin Zhang
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Abstract

The real-time monitoring of the load in farming by the sensor installed on the tractor's three-point hitch can effectively improve the farming efficiency and force-position combined control, reduce the compaction risk of the wheel on the soil and reduce the fuel consumption in farming process. However, the measurement and quantification of the loads on the three-point hitch have some problems remaining unresolved: testing the accuracy and reliability of a load measuring system is hard when the tractor works in a field, the mathematical model of spatial forces usually lacks a practical and effective validation, and the calibration process of the measurement system is inconvenient and incomplete while easily causing a low accuracy. Specifically, this paper builds a new spatial-force mathematical model based on the geometry of a three-point hitch. To eliminate the discrepancy of the geometric model with the actual structure and to refine the mathematical model, a calibration process is conducted by developing a calibration bench, which is equipped with a data acquisition system and a multi-parameter monitoring interface. The three-point hitch installed on this calibration bench is subject to steady-state loading. The loading force, angle of the lower drawbar, and three-component forces (three shaft pin sensors’ forces) of the three-point hitch are well measured. With applying for the measured data to calibrate the theoretical mathematic model eventually derives the resultant force from all the three-component forces, a dynamical loading bench was developed to test the calculated resultant force for the three-point hitch during the sinusoidal and randomly variant dynamical loadings tests. A hitch force measurement system is also developed to collect real-time data and calculate the resultant force of measured three-component forces through the calibrated mathematical model. The results of the dynamical loading tests show that the average relative error MRE=1.09% with an average force measurement time delay being Δt=0.5 s, the root mean square error RMSE=59.3 N, and the coefficient of determination R2=0.9903. As observed, the shape and the trend of the generated resultant force curve are basically the dynamical loading force. The dynamical loading test proves the high efficacy and reliability of the proposed indoor calibration method for calculating the load based on the three-component forces as measured on the three-point hitch. Besides, the preliminary study of the proposed method on the hitch load provides great potential to improve the indoor six-component measurement and quantification of both the force and momentum acting on the three-point hitch. Keywords: tractor, three-point hitch, hitch force calibration bench, hitch force measurement system, dynamic loading verification method DOI: 10.25165/j.ijabe.20231603.7455 Citation: Dai D, Chen D, Mao X, Zhang Y W, Li Y T, Wang S M, et al. Design and performance analysis of indoor calibration device for force-measuring system of the tractor three-point hitch. Int J Agric & Biol Eng, 2023; 16(3): 47–54.
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拖拉机三点式挂索测力系统室内标定装置设计及性能分析
通过安装在拖拉机三点式挂索上的传感器对耕作过程中的负荷进行实时监测,可以有效地提高耕作效率和力位联合控制,减少车轮对土壤的压实风险,降低耕作过程中的燃油消耗。然而,三点式挂载载荷的测量与量化仍存在一些未解决的问题:拖拉机在野外作业时难以测试载荷测量系统的准确性和可靠性,空间力的数学模型通常缺乏实际有效的验证,测量系统的校准过程不方便和不完整,容易造成精度低。具体地说,本文建立了一个新的基于三点悬挂几何的空间力数学模型。为了消除几何模型与实际结构的差异,并对数学模型进行精细化,开发了配备数据采集系统和多参数监测接口的标定台架,进行了标定过程。安装在此校准台上的三点悬挂装置受稳态载荷的影响。测量了三点挂件的加载力、下拉杆的角度、三分量力(三轴销传感器的力)。利用实测数据对理论数学模型进行校正,最终推导出三分量力的合力,并建立了动态加载台架,在正弦和随机变动加载试验中对计算得到的三点系结合力进行测试。开发了一套悬挂力测量系统,通过标定后的数学模型,实时采集数据,计算出所测三分量力的合力。动态加载试验结果表明,平均相对误差MRE=1.09%,平均测力时滞Δt=0.5 s,均方根误差RMSE=59.3 N,决定系数R2=0.9903。由此可见,生成的合力曲线的形状和趋势基本就是动加载力。动态加载试验验证了所提出的基于三点挂件上测得的三分量力计算载荷的室内标定方法的有效性和可靠性。此外,该方法对顺风车载荷的初步研究为改进室内对三点顺风车的力和动量的六分量测量和量化提供了巨大的潜力。关键词:拖拉机,三点式挂载,挂载力标定台,挂载力测量系统,动态加载验证方法[DOI: 10.25165/ j.j ijabe.20231603.7455]引用本文:戴迪,陈迪,毛鑫,张玉文,李玉涛,王世民,等。拖拉机三点式挂索测力系统室内标定装置设计及性能分析。农业与生物工程学报,2023;16(3): 47-54。
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来源期刊
CiteScore
4.30
自引率
12.50%
发文量
88
审稿时长
24 weeks
期刊介绍: International Journal of Agricultural and Biological Engineering (IJABE, https://www.ijabe.org) is a peer reviewed open access international journal. IJABE, started in 2008, is a joint publication co-sponsored by US-based Association of Agricultural, Biological and Food Engineers (AOCABFE) and China-based Chinese Society of Agricultural Engineering (CSAE). The ISSN 1934-6344 and eISSN 1934-6352 numbers for both print and online IJABE have been registered in US. Now, Int. J. Agric. & Biol. Eng (IJABE) is published in both online and print version by Chinese Academy of Agricultural Engineering.
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