土壤粘附特性测试系统采样频率及控制参数的研究
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摘要
本文在考察现有土壤粘附测量仪器设备存在的局限性、分析触土部件和土壤相互作用的基础上,进行反复试验,对土壤粘附测试系统的采样频率及控制参数进行研究。利用可视化编程工具Visual C++6.0 编制调试程序,对系统的采样频率及进行研究,分析原系统存在的问题。通过过程控制原理中的PID 理论,研究土壤粘附特性测试系统中的控制器中PD 参数的整定。新的控制参数与原土壤粘附特性测试系统中的相比,大幅减小了试验结果的误差,同时,也相应的提高了过程动态曲线的快速性和准确性。在验证试验中,本文构建了使用虚拟仪器的土壤粘附测试系统,不但验证了本研究的改进结果,也为土壤粘附特性的测试提供了新的选择。
本文的研究工作为深入的进行土壤粘附力学研究、开展工程实际的模拟和土壤/固体界面动态粘附系统动力学的研究提供更加完善的研究手段和试验方法。
The problem of soil adhesion to the machinery components of touching soil has been the important and difficult problem that national and international technology operators have been dedicating to study and striving to solve. It is obvious that energy consuming from soil adhesion and friction is so great, if we can lower the soil adhesion and fiction to components of touching soil it will receive egregious economic effect.
In the research on reducing soil adhesion and scouring soil of the terra-machine,there are many fields to need test system to measure adhesion properties, such as studying reducing adhesion, investigating soil adhesion rules, analyzing soil adhesion mechanism and scouring soil for the walking-devices and working-components of terra-machine. Therefore the devices or equipments for testing soil adhesion property are very essential.
In 2001, graduate student WangBaiSheng designed a suit of system which can finish the test of soil adhesion on the whole, that is the Test System for Soil Adhesion Property of Terrain-Machine Bionics Enginerring. . The controller is a powerful and effective product typed EDC100, and the system solve some problems which the former test equipments can’t solve in soil adhesion test. But there are problems of the system: 1. The results of soil adhesion exist in wide range; 2.The accuracy and speed of the dynamic curve of the system are not good. For the reason above, the inaccuracy of measurement of test results is big, so the test system needs to be improved.
Based on examining the former test equipments and analyzing the interaction between soil-engaging components and soil, to improve the frequency of sampling and design the controls parameter of the test
本文的研究工作为深入的进行土壤粘附力学研究、开展工程实际的模拟和土壤/固体界面动态粘附系统动力学的研究提供更加完善的研究手段和试验方法。
The problem of soil adhesion to the machinery components of touching soil has been the important and difficult problem that national and international technology operators have been dedicating to study and striving to solve. It is obvious that energy consuming from soil adhesion and friction is so great, if we can lower the soil adhesion and fiction to components of touching soil it will receive egregious economic effect.
In the research on reducing soil adhesion and scouring soil of the terra-machine,there are many fields to need test system to measure adhesion properties, such as studying reducing adhesion, investigating soil adhesion rules, analyzing soil adhesion mechanism and scouring soil for the walking-devices and working-components of terra-machine. Therefore the devices or equipments for testing soil adhesion property are very essential.
In 2001, graduate student WangBaiSheng designed a suit of system which can finish the test of soil adhesion on the whole, that is the Test System for Soil Adhesion Property of Terrain-Machine Bionics Enginerring. . The controller is a powerful and effective product typed EDC100, and the system solve some problems which the former test equipments can’t solve in soil adhesion test. But there are problems of the system: 1. The results of soil adhesion exist in wide range; 2.The accuracy and speed of the dynamic curve of the system are not good. For the reason above, the inaccuracy of measurement of test results is big, so the test system needs to be improved.
Based on examining the former test equipments and analyzing the interaction between soil-engaging components and soil, to improve the frequency of sampling and design the controls parameter of the test
引文
[1] Ren Luquan,et al.Soil adhesion and bionimetics of soil-engaging components in anti-adhesion against soil :a review Proc. 13th international Conf .ISTVS Munich,Germany, Sept.14-17,1999,673
[2] 任露泉等.松软地面机械仿生理论与技术.农业机械学报,2000,31(1):5-9
[3] 陈秉聪.土壤—车辆系统力学. 北京:中国农业机械出版社,1981
[4] 吉尔W·R,范德伯奇G·E.耕作和牵引土壤动力学.中国农业机械出版社,1983
[5] 德鲁耶夫B K.关于挖掘机铲斗粘土现象及其减少方法.国外工程机械,1981,(3):32-35
[6] 卡平宁B C.单斗装卸机铲斗的粘附积土现象.国外工程机械,1982,(2):37-38,65
[7] Vilde A A.Study of rules of resistance to sliding of soil on steel , Reports . Latvain Scientific Research Institute of Mechanization and Electrification of Agriculture , 1973( 6 ): 183—195
[8] James G H and Alvin C B . Determining components of soil-metal sliding resistance.Transactions of the ASAE,1982, 845—849
[9] Robbins D H ,Johnson C E and Schsfer R L .Modeling soil-metal sliding resistance.ASAE,1987,No.87—1580
[10] 王云鹏,任露泉,孙世元,杨印生.自卸汽车装卸粘性土时粘附规律统计分析.数理统计与管理,1996,15(6),7—12
[11] 王云鹏,任露泉,李建桥.柔性非光滑减粘脱附的自卸车模型试验研究.农业工程学报,1997,13(2):139—143
[12] Ren L Q,Li J Q,Chen B C.Unsmoothed surface on reducing resistance by bionics.Chinese Science Bulletin,1995,40(13):1077—1080
[13] 贝佛尔L D 等,周传槐译.土壤物理学.北京:中国农业出版社,1983
[14] Fountaine E R . Investigation into the mechanism of soil adhesion.J.Soil Sci.,1954,5(2):251—263
[15] Kummer F A and Nichols M L,The dynamic properties of soil V Ⅱ,A study of the nature of physical forces governing the adhesion between soil and metal surfaces,Agriculture Engineering,1938(19):73-78
[16] 吉林工业大学汽车拖拉机系.土壤粘附仪的研制鉴定(机电部)报告.1989 [17] 陈秉聪.土壤-车辆系统力学.北京:中国农业出版社,1981
[18] 任露泉,张书军.土壤粘附仪组合测盘测力原理的实验研究.实验技术与实验机,1990(1):18—22
[19] 任露泉,李月潭等.土壤粘附仪测盘测力分析及单因素实验研究.实验技术与实验机,1990(2):33—36
[20] 卢韶芳.多功能土壤实验台的研制:[硕士学位论文].长春:吉林工业大学,1996
[21] 吉尔W R,范德伯奇G E.耕作和牵引土壤动力学.北京:中国农业机械出版社,1983
[22] Fisher R A.Further more note on the capillary forces in an ideal soil. J.Agr.Sci.,1928(18):406—410
[23] 王柏生. 土壤粘附测试特性系统的研究[硕士学位论文].长春:吉林大学,2003
[24] 邵裕森. 过程控制及仪表. 上海交通大学出版社, 1994.6
[25] 吴勤勤. 电动控制仪表及装置. 化学工业出版社, 1990
[26] 张亚武. 微机过程控制技术. 化学工业出版社, 1995
[27] 孙一源,高行方,余登苑.农业土壤力学.北京:中国农业出版社,1985
[28] 钱定华,张际先.土壤对金属材料粘附和摩擦研究状况概述.农业机械学报,1984,15(1):69—78
[29] 钱志鸿. 计算机控制装置. 吉林大学, 2000,11
[30] 吕凤翥. C++语言基础教程. 清华大学出版社,1999.4: 2-7
[31] Microsoft Corporation. Mastezing MFC Develepment Using Microsoft Visual C++ 6.0. 清华大学出版社, 2002
[2] 任露泉等.松软地面机械仿生理论与技术.农业机械学报,2000,31(1):5-9
[3] 陈秉聪.土壤—车辆系统力学. 北京:中国农业机械出版社,1981
[4] 吉尔W·R,范德伯奇G·E.耕作和牵引土壤动力学.中国农业机械出版社,1983
[5] 德鲁耶夫B K.关于挖掘机铲斗粘土现象及其减少方法.国外工程机械,1981,(3):32-35
[6] 卡平宁B C.单斗装卸机铲斗的粘附积土现象.国外工程机械,1982,(2):37-38,65
[7] Vilde A A.Study of rules of resistance to sliding of soil on steel , Reports . Latvain Scientific Research Institute of Mechanization and Electrification of Agriculture , 1973( 6 ): 183—195
[8] James G H and Alvin C B . Determining components of soil-metal sliding resistance.Transactions of the ASAE,1982, 845—849
[9] Robbins D H ,Johnson C E and Schsfer R L .Modeling soil-metal sliding resistance.ASAE,1987,No.87—1580
[10] 王云鹏,任露泉,孙世元,杨印生.自卸汽车装卸粘性土时粘附规律统计分析.数理统计与管理,1996,15(6),7—12
[11] 王云鹏,任露泉,李建桥.柔性非光滑减粘脱附的自卸车模型试验研究.农业工程学报,1997,13(2):139—143
[12] Ren L Q,Li J Q,Chen B C.Unsmoothed surface on reducing resistance by bionics.Chinese Science Bulletin,1995,40(13):1077—1080
[13] 贝佛尔L D 等,周传槐译.土壤物理学.北京:中国农业出版社,1983
[14] Fountaine E R . Investigation into the mechanism of soil adhesion.J.Soil Sci.,1954,5(2):251—263
[15] Kummer F A and Nichols M L,The dynamic properties of soil V Ⅱ,A study of the nature of physical forces governing the adhesion between soil and metal surfaces,Agriculture Engineering,1938(19):73-78
[16] 吉林工业大学汽车拖拉机系.土壤粘附仪的研制鉴定(机电部)报告.1989 [17] 陈秉聪.土壤-车辆系统力学.北京:中国农业出版社,1981
[18] 任露泉,张书军.土壤粘附仪组合测盘测力原理的实验研究.实验技术与实验机,1990(1):18—22
[19] 任露泉,李月潭等.土壤粘附仪测盘测力分析及单因素实验研究.实验技术与实验机,1990(2):33—36
[20] 卢韶芳.多功能土壤实验台的研制:[硕士学位论文].长春:吉林工业大学,1996
[21] 吉尔W R,范德伯奇G E.耕作和牵引土壤动力学.北京:中国农业机械出版社,1983
[22] Fisher R A.Further more note on the capillary forces in an ideal soil. J.Agr.Sci.,1928(18):406—410
[23] 王柏生. 土壤粘附测试特性系统的研究[硕士学位论文].长春:吉林大学,2003
[24] 邵裕森. 过程控制及仪表. 上海交通大学出版社, 1994.6
[25] 吴勤勤. 电动控制仪表及装置. 化学工业出版社, 1990
[26] 张亚武. 微机过程控制技术. 化学工业出版社, 1995
[27] 孙一源,高行方,余登苑.农业土壤力学.北京:中国农业出版社,1985
[28] 钱定华,张际先.土壤对金属材料粘附和摩擦研究状况概述.农业机械学报,1984,15(1):69—78
[29] 钱志鸿. 计算机控制装置. 吉林大学, 2000,11
[30] 吕凤翥. C++语言基础教程. 清华大学出版社,1999.4: 2-7
[31] Microsoft Corporation. Mastezing MFC Develepment Using Microsoft Visual C++ 6.0. 清华大学出版社, 2002