Automatic Control of Rotary Tilling Tractor (II)

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Other Title
  • ロータリ耕うんトラクタの自動制御　ＩＩ　　耕うん反力検出による走行速度・耕深制御
  • ロータリ コウウン トラクタ ノ ジドウ セイギョ 2 コウウン ハンリョク
  • 耕うん反力検出による走行速度・耕深制御

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Abstract

1. To regulate the tilling torque of a rotary tiller constant, which is mounted on a hydrostaticdrive tractor, an automatic control system which detects the tilling reaction force to the rotary tiller and controls the travelling speed and the tilling depth was experimented.<br>2. The rotary tiller was suspended by torsionbars and the torsional force of them was detected by a linear variable differential transformer. The travelling speed and the tilling depth were controlled with the swash-plate angle of the hydrostatic transmission and the position of the three point linkage hitch respectively under the control of the solenoid valves switching. These valves were operated to control the ratio of the travelling speed and the tilling depth within certain range and the ratio of the displacement of the swashplate angle and the depth sensing wheel was also maintained in a certain range.<br>3. When the tilling depth was changed by lifting and lowering of the rotary tiller or by the pitching motion of the tractor, the tilling torque was changed sharply because of the transient change of the vertical tilling area of each blade.<br>4. In the field tests, this automatic control system worked well to regulate the tilling torque. Too small dead zone and too large rate of the tilling depth change however caused the tilling torque fluctuation transiently due to the change of the tilling depth. On the other hand, too large dead zone and too small rate of the tilling depth change also caused the tilling torque fluctuation.<br>5. When the tractor pitched, the system worked to regulate the tilling depth constant and when the soil hardness changed, it controlled the tilling torque constant by changing the travelling speed and the tilling depth. The tilling torque was however fluctuated momently when the tilling depth was regulated.

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