Method for controlling embedding depth of jetting plow

Abstract

The invention provides a method for controlling embedding depth of a jetting plow, which is characterized by comprising the following steps: firstly, obtaining a coulter angle theta by calculation according to an actual read number X of a displacement sensor; and secondly, obtaining the embedding depth T of the jetting plow according to an embedding depth formula. The method sufficiently considers that the actual movement locus of the coulter is a section of circular arc, thus a cosine formula replaces the prior linear formula to reflect the actual embedding depth more accurately, and simultaneously, the method considers the forward tilting condition and the backward tilting condition of the jetting plow separately and gives two groups of formulae so that the influence caused by the self-posture of the jetting plow is eliminated to the utmost extent. The method has the advantage of accurately reflecting the actual embedding depth.

Description

technical field [0001] The invention relates to a method for controlling the burial depth of a flushing plow, and belongs to the technical field of flushing plow operation methods. Background technique [0002] The buried plow includes a coulter, a hydraulic cylinder and a displacement sensor arranged in the hydraulic cylinder, which realizes the up and down movement of the buried coulter by controlling the movement of the hydraulic cylinder. The burial depth of the original flushing plow is obtained by directly passing the reading of the displacement sensor in the hydraulic cylinder through a linear formula. The disadvantage of this control method is that it cannot accurately reflect the actual burial depth because of: [0003] First, the up and down movement of the coulter on the buried plow is not purely linear, its actual trajectory is a circular arc, so the original linear formula cannot truly and accurately reflect the actual embedding depth; [0004] Second, the ori...

AI Technical Summary

Problems solved by technology

The disadvantage of this control method is that it cannot accurately reflect the actual burial depth, because:

[0003] First, the up and down movement of the coulter on the buried plow is not purely linear, its actual trajectory is a circular arc, so the original linear formula cannot truly and accurately reflect the actual embedding depth;

[0004] Second, the original linear formula did not take into account the impact of the plow's own posture

When the posture of the flushing plow itself changes, the actual position of its coulters will also change accordingly. If only the up and down movement of the coulter itself is considered, if the posture of the flushing plow does not change much, for example, only 1 to 2 degrees change, the error of the final result may not be very large, but once the posture of the buried plow changes greatly, the result will be quite different

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