基于粘土的木薯块根仿生拔起机构基础理论研究
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摘要
目前,关于木薯块根收获机械设计理论及方法的研究成果较少。木薯块根收获机械的研究,国内还处于起步阶段,国外,虽然研制出了适合当地使用的木薯块根收获机械,但适合粘性土壤和中国木薯生长状况的未见有报道。木薯块根机械收获机理复杂,作业质量影响因素多,因此,以中国有代表性的木薯品种和粘土作为主要研究对象,采用先进的研究方法和技术,系统建立木薯块根拔起模型和机械拔起速度控制模型,研究块根的拔起机理及块根的损失规律和机理,探索木薯块根收获机械的设计原理和系统参数优化方法,形成木薯块根收获机械设计理论,成为了具有挑战性和重要性的前沿课题。
本文结合国家自然基金项目“丘陵地区木薯块根收获机械基础理论与设计方法”,针对基于粘土的木薯块根仿生拔起机构设计基础理论及难于模拟的土壤大变形和破裂现象,开展木薯块根拔起机理、土壤剪切机理及块根拔起力的力学模型、数学模型和块根拔起速度模型研究,为木薯块根仿生拔起机构设计提供依据。本文主要的研究内容及结论如下：
(1)参考木材力学特性参数的测定方法,通过物理试验,测定了块根、茎秆的径向与轴向剪切、拉压强度和弹性模量。
(2)采用SPH和FEM的耦合算法及修正的莫尔-库仑屈服准则,建立了木薯块根拔起过程耦合计算模型,克服块根拔起时产生的土壤大变形和破裂难于进行数值模拟计算问题及有效减少了计算时间。同时,通过数值模拟,在细观层次上探明了块根的拔起过程、土壤破裂过程及块根的应力变化规律,表明在块根拔起过程中,块根对土壤的向上挤压作用表现为逐渐加强和由内向外扩展过程,当这种挤压作用达到一定值时,土壤产生环形剪切破裂；最大拔起力出现时,土壤开始产生明显的环形剪裂面,但块根出现最大有效应力值迟于出现最大拔起力的时刻,在土壤产生环形剪切破裂到土体分离阶段,块根拔起速度不宜过快,否则块根应力过大被拉断,造成机械收获损失。同时,木薯块根可等价成一个圆盘与该圆盘外围接-定长度的块根,建立便于分析的块根拔起力力学模型。
(3)采用SPH和FEM相结合的方法及修正的莫尔-库仑屈服准则,建立了土壤直剪试验数值计算模型,进行了4种不同性质土壤的直剪数值模拟试验和回归分析,探明了土壤剪切破裂过程及剪切速度对土壤剪切强度的影响机理,表明土壤被挤压产生变形,土壤粒子连结直接拉裂和土壤粒子间摩擦与挤压引起的土粒拉裂是土壤直剪断裂的主要原因；剪切速度ν增大,瞬间拉裂土粒数增多,剪切强度τ增大。剪切模量小时,τ和ν是三次方关系,剪切模量大时,τ和v是对数关系。土壤的剪切模量大,较难变形,以土粒连结直接拉裂为主,瞬间拉裂粒子数多,τ大；剪切模量小,比较容易变形,拉裂粒子数较少,τ小。
(4)根据土壤动力学和植物根系摩擦理论,建立了块根拔起的力学模型及多因素耦合的块根最大拔起力数学模型,且进行了物理试验验证,表明该数学模型有较高的预测精度,同时,分析了各因素对块根最大拔起力的影响规律。
(5)根据仿生学原理,选择有丰富块根收获经验的薯农,实地测定了其块根拔起加速度的变化过程,采用统计分析和非线性拟合方法,通过研究人拔起块根的速度变化规律,优选出了较优的人的块根拔起速度模型,建立了机械较优的块根拔起速度模型形式,为机械拔起机构拔起速度模型的优化提供了基础。
Researches on the design theory and methods of cassava harvester are not too much. The research on cassava root harvesting machinery in China is still in its infancy. Harvesting in the growth situation of cassava in China specifically in the clay by machine have not been reported in literatures. The mechanism of cassava root mechanical harvesting and the influencing factors of harvesting are complex. Therefore, with representative cassava variety and clay in China as the main research object, by the advanced research methods and techniques, the model of uprooting of cassava root and the control model of mechanical uprooted speed are established. The uprooted mechanism of cassava root and the laws and mechanism of cassava root loss are studied. The design principle and system parameters optimization method of cassava root harvester are discovered. The design theory of cassava root harvester is formed. It becomes a challenging and importance subject in the forefront. The authors are grateful for the financial supported by the National Natural Science Foundation of China "The basic theory and design method of cassava root harvesting machinery in hilly region"(Grant No.51065003). Aiming at the basic theory of bionic uprooted mechanism design of cassava root based on clay and calculation difficulty in the soil deformation and rupture phenomenon, the mechanism of soil shearing and uprooting of root are discovered,and that the mechanical and mathematical model of uprooted force on cassava root and the optimum model of uprooted speed are established. The design foundation is provided for bionic uprooted mechanism. The main conclusions are as follows:
(1)Mechanical properties of cassava's root and stem (South China205) are tested experimentally, such as axial tensile strength, axial and radial compression strength, axial and radial shear strength, axial and radial elastic modulus.
(2)Based on the methods including Smoothed Particle Hydrodynamics(SPH)and FEM coupling algorithm, modified Mohr-Coulomb yield criterion, the coupling calculation model of uprooting of cassava root is established. The interaction mechanisms between uprooted cassava root and soil are discovered. The processes of soil shearing and the changing processes of root's stress are analyzed. The studies show that:the effects of soil being extruded by the root expand gradually from inside to outside in the process of uprooting, and the uprooted force reaches the maximum value when the soil appears ring shear rupture; after the uprooted force reaches the maximum value, the root's effective stress still increases gradually with the increasing of its bending deformation until the soil is separated, so the uprooted speed should be small after the soil appears the shear rupture surface, otherwise the root is very easy to be broken; when the maximum uprooted force on cassava root is analyzed, the interaction of a disc and its extension on the soil is regarded as the mechanical model of maximum uprooted force on cassava root.
(3)Based on the methods including Smoothed Particle Hydrodynamics(SPH)and FEM, modified Mohr-Coulomb yield criterion, the numerical calculation model of direct shear test is established. The numerical simulation experiments of direct shear on four kinds of soil are carried out. The mathematic models of soil shear strength and shearing speed are established by regression analysis. The process of soil shear failure and the influence law and mechanism of shearing speed on shear strength are discovered. The studies show that:the main reason for soil fracture are that in the process of shearing, the extrusion deformation appears on the soil, and that the links among the soil particles are directly stretched fracture, and that extrusion and friction among the soil particles; with shearing speed increasing, the number of the soil particles which are stretched fracture in a moment increases so that shear strength increases; third-order relationship exits between shear strength and shearing speed with small shear modulus, and logarithm relationship exits between shear strength and shearing speed with large shear modulus; the effect of shear modulus on shear strength is large, and with large shear modulus, the soil is difficult to be deformed, because the links among the soil particles are directly stretched fracture and the number of the soil particles which is stretched fracture in a moment increases resulting in the large shear strength.
(4)The mechanical model of uprooted force and mathematical model of multifactor coupling maximum uprooted force on cassava root are established by the soil dynamics theory and the friction theory of roots, and then the models are verified. The mathematical model of maximum uprooted force on cassava root has higher precision in uprooted force of cassava root, which distribution and growth both are like disc-shaped. The influence laws of factors on maximum uprooted force on cassava root are analyzed.
(5)According to the principle of bionics, the acceleration curves of cassava root uprooted by the farmers with rich harvesting experience are tested. The changing laws of the curves are studied by statistical analysis and nonlinear fitting method. The optimized uprooted speed model manually is selected by the laws. The basis of the mechanical optimized uprooted speed model is established.
本文结合国家自然基金项目“丘陵地区木薯块根收获机械基础理论与设计方法”,针对基于粘土的木薯块根仿生拔起机构设计基础理论及难于模拟的土壤大变形和破裂现象,开展木薯块根拔起机理、土壤剪切机理及块根拔起力的力学模型、数学模型和块根拔起速度模型研究,为木薯块根仿生拔起机构设计提供依据。本文主要的研究内容及结论如下：
(1)参考木材力学特性参数的测定方法,通过物理试验,测定了块根、茎秆的径向与轴向剪切、拉压强度和弹性模量。
(2)采用SPH和FEM的耦合算法及修正的莫尔-库仑屈服准则,建立了木薯块根拔起过程耦合计算模型,克服块根拔起时产生的土壤大变形和破裂难于进行数值模拟计算问题及有效减少了计算时间。同时,通过数值模拟,在细观层次上探明了块根的拔起过程、土壤破裂过程及块根的应力变化规律,表明在块根拔起过程中,块根对土壤的向上挤压作用表现为逐渐加强和由内向外扩展过程,当这种挤压作用达到一定值时,土壤产生环形剪切破裂；最大拔起力出现时,土壤开始产生明显的环形剪裂面,但块根出现最大有效应力值迟于出现最大拔起力的时刻,在土壤产生环形剪切破裂到土体分离阶段,块根拔起速度不宜过快,否则块根应力过大被拉断,造成机械收获损失。同时,木薯块根可等价成一个圆盘与该圆盘外围接-定长度的块根,建立便于分析的块根拔起力力学模型。
(3)采用SPH和FEM相结合的方法及修正的莫尔-库仑屈服准则,建立了土壤直剪试验数值计算模型,进行了4种不同性质土壤的直剪数值模拟试验和回归分析,探明了土壤剪切破裂过程及剪切速度对土壤剪切强度的影响机理,表明土壤被挤压产生变形,土壤粒子连结直接拉裂和土壤粒子间摩擦与挤压引起的土粒拉裂是土壤直剪断裂的主要原因；剪切速度ν增大,瞬间拉裂土粒数增多,剪切强度τ增大。剪切模量小时,τ和ν是三次方关系,剪切模量大时,τ和v是对数关系。土壤的剪切模量大,较难变形,以土粒连结直接拉裂为主,瞬间拉裂粒子数多,τ大；剪切模量小,比较容易变形,拉裂粒子数较少,τ小。
(4)根据土壤动力学和植物根系摩擦理论,建立了块根拔起的力学模型及多因素耦合的块根最大拔起力数学模型,且进行了物理试验验证,表明该数学模型有较高的预测精度,同时,分析了各因素对块根最大拔起力的影响规律。
(5)根据仿生学原理,选择有丰富块根收获经验的薯农,实地测定了其块根拔起加速度的变化过程,采用统计分析和非线性拟合方法,通过研究人拔起块根的速度变化规律,优选出了较优的人的块根拔起速度模型,建立了机械较优的块根拔起速度模型形式,为机械拔起机构拔起速度模型的优化提供了基础。
Researches on the design theory and methods of cassava harvester are not too much. The research on cassava root harvesting machinery in China is still in its infancy. Harvesting in the growth situation of cassava in China specifically in the clay by machine have not been reported in literatures. The mechanism of cassava root mechanical harvesting and the influencing factors of harvesting are complex. Therefore, with representative cassava variety and clay in China as the main research object, by the advanced research methods and techniques, the model of uprooting of cassava root and the control model of mechanical uprooted speed are established. The uprooted mechanism of cassava root and the laws and mechanism of cassava root loss are studied. The design principle and system parameters optimization method of cassava root harvester are discovered. The design theory of cassava root harvester is formed. It becomes a challenging and importance subject in the forefront. The authors are grateful for the financial supported by the National Natural Science Foundation of China "The basic theory and design method of cassava root harvesting machinery in hilly region"(Grant No.51065003). Aiming at the basic theory of bionic uprooted mechanism design of cassava root based on clay and calculation difficulty in the soil deformation and rupture phenomenon, the mechanism of soil shearing and uprooting of root are discovered,and that the mechanical and mathematical model of uprooted force on cassava root and the optimum model of uprooted speed are established. The design foundation is provided for bionic uprooted mechanism. The main conclusions are as follows:
(1)Mechanical properties of cassava's root and stem (South China205) are tested experimentally, such as axial tensile strength, axial and radial compression strength, axial and radial shear strength, axial and radial elastic modulus.
(2)Based on the methods including Smoothed Particle Hydrodynamics(SPH)and FEM coupling algorithm, modified Mohr-Coulomb yield criterion, the coupling calculation model of uprooting of cassava root is established. The interaction mechanisms between uprooted cassava root and soil are discovered. The processes of soil shearing and the changing processes of root's stress are analyzed. The studies show that:the effects of soil being extruded by the root expand gradually from inside to outside in the process of uprooting, and the uprooted force reaches the maximum value when the soil appears ring shear rupture; after the uprooted force reaches the maximum value, the root's effective stress still increases gradually with the increasing of its bending deformation until the soil is separated, so the uprooted speed should be small after the soil appears the shear rupture surface, otherwise the root is very easy to be broken; when the maximum uprooted force on cassava root is analyzed, the interaction of a disc and its extension on the soil is regarded as the mechanical model of maximum uprooted force on cassava root.
(3)Based on the methods including Smoothed Particle Hydrodynamics(SPH)and FEM, modified Mohr-Coulomb yield criterion, the numerical calculation model of direct shear test is established. The numerical simulation experiments of direct shear on four kinds of soil are carried out. The mathematic models of soil shear strength and shearing speed are established by regression analysis. The process of soil shear failure and the influence law and mechanism of shearing speed on shear strength are discovered. The studies show that:the main reason for soil fracture are that in the process of shearing, the extrusion deformation appears on the soil, and that the links among the soil particles are directly stretched fracture, and that extrusion and friction among the soil particles; with shearing speed increasing, the number of the soil particles which are stretched fracture in a moment increases so that shear strength increases; third-order relationship exits between shear strength and shearing speed with small shear modulus, and logarithm relationship exits between shear strength and shearing speed with large shear modulus; the effect of shear modulus on shear strength is large, and with large shear modulus, the soil is difficult to be deformed, because the links among the soil particles are directly stretched fracture and the number of the soil particles which is stretched fracture in a moment increases resulting in the large shear strength.
(4)The mechanical model of uprooted force and mathematical model of multifactor coupling maximum uprooted force on cassava root are established by the soil dynamics theory and the friction theory of roots, and then the models are verified. The mathematical model of maximum uprooted force on cassava root has higher precision in uprooted force of cassava root, which distribution and growth both are like disc-shaped. The influence laws of factors on maximum uprooted force on cassava root are analyzed.
(5)According to the principle of bionics, the acceleration curves of cassava root uprooted by the farmers with rich harvesting experience are tested. The changing laws of the curves are studied by statistical analysis and nonlinear fitting method. The optimized uprooted speed model manually is selected by the laws. The basis of the mechanical optimized uprooted speed model is established.
引文
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