自脱コンバインの最適制御

概要

論文の詳細を見る
This research was investigated for a final object to harvest the paddy rice by an operatorless head feeding type combine. As the first step of this object, the automatic control was done for the operation of turning at the field end and for the improvement of working efficiency at harvesting the paddy rice. At first, for the automatic control of turning at the field end, an angular rate sensor was adopted to detect the absolute turning angle which was obtained from the numerical integral of the angular rate. The automatic control of turning at the field end was done sequentially by a micro-computer based programmed control system with a feed back of real turning angle. And so the influence occurred from the slip on the traveling device of combine was excepted from the turning angle of combine. The next, when the combine harvested the paddy rice, the steering angle and time were measured by the angular rate sensor, and the winding data of the row of paddy hill was collected. Then the shortest running path of combine was calculated from these data and the automatic steering control was done along the path for the purpose of the improvement of working efficiency. In this report, the detecting method of the turning and steering angle with the angular rate sensor and the experiment of data acquisition for the barley in the actual field are described.
神戸大学の論文
1985-01-31