The Developments of A Tractor Universal Control Monitor

由于作者在1988年的科研援助研究(C)中研制了利用多普勒雷达的“拖拉机信息监测器”（见研究项目号：62560241），本研究的目的是将“信息监测器”改造或升级为自动控制农机具的“通用控制监测器”。对农用拖拉机吊臂式喷雾器的流量进行了仿人智能控制研究，力求在由于轮胎变形和罐内农药体积负荷造成拖拉机行驶速度不均匀的情况下，保持单位面积上的喷雾量。实验结果表明，具有随机非线性特性的自动磁链控制系统具有良好的稳定性、抗干扰性和快速可靠性。由于仿人方法控制对象系统关注登记体积与实际体积之间的偏差，并且当从工具上获取的数据进行归一化时，该控制机制可以应用于所有其他农具。因此，这种具有人性化控制和规范化数据使用的新型监测器可以适应全系列的安装工具。

As the author had developed "Tractor information monitor" use with Doppler radar in the studies on grand-in-aid for scientific research(C) at 1988 (See the author's report of the research project number 62560241), The object of this study is reforming or grad-up the 'information monitor' to 'Universal control monitor' which control farm implements automatically.The studies on the human-like intelligent controls for the flux of boom-type pesticide sprayr mounted on farm tractor was tried to maintain the splayd amount on unit area, even if the tractor travel spees was uneven by the tire deformation and tire slippage by the burden of the pesticide volume in tank. The basic experiment results showed that the automatic flux control system which was with a random non-liner property, has satisfied stability, disturbance resistance and rapid responsibility.As the human-like method controls the object system to pay attention to deviation between registered volume and actual volume, and when the data taken from implement were normalizing, the control mechanisms can applied to all oher farm implement. So the new monitor which equipped human-like control use with normalized data can adaptable to full line of mounted implements.