Studies on the Computer Control Technic for Farm Tractor's Implement.

对实际工作的农用拖拉机机具系统的行为和状态进行测量，是设计计算机控制农用机械或创造农用拖拉机高效作业的关键。研制了基于超声多普勒雷达的拖拉机行为监测系统。从几台拖拉机现场采集的数据中得出了许多可取的结果，但由于数据广泛传播，无法指出操作或制定设计标准的可取检查点。拖拉机行为监测系统的控制部分由一台单片机构成，该单片机具有16kb ROM， 256byte RAM， 54个I/O口和32x256点大液晶显示屏。并可通过RS232C接口显示和输出转速、车轮打滑、油耗、8个模拟数据和17个数字数据等测量数据。超声波多普勒雷达系统测量从5厘米/秒到5米/秒的实际旅行速度，可重复精度高达1厘米/秒的标准误差。在4℃或0℃等低温条件下，测量精度低于3%。利用所研制的系统对拖拉机犁耕作业进行测量时，驱动轮滑移数据分布范围为0 ~ 80%，与田间条件特别是土壤硬度密切相关。实践证明，该系统对农用拖拉机的运行情况进行了有效的测量。

It is most important thing for designing a computer controlling farm machine or creating efficient work on farm tractor to measure the behavior and conditions of a real working farm tractor-implement system. In this study, the tractor behavior monitoring system used with ultra-sonic doppler radar was developed. And the data taken from several tractor works in the field are shown many advisable results, but as the data are widely spread it cannot point out that the advisable check point for operation or to create design standard.The control part of the tractor behavior monitoring system are constructed by one chip microcomputer which has 16kb ROM, 256byte RAM, 54 I/O port and 32x256 dots large LCD. And it can disply and output via RS232C port the measured data, such as speed, slip on wheel, fuel consumption, 8-analog data and 17 digital data.The ultra-sonic doppler radar system measures the real traveling speed from 5 cm/sec to 5 m/sec with repeatable accuracy up to 1 cm/sec on standard error. And in low temperature condition such as 4 or 0 centigrade, the accuracy of measurement was less than 3%.When the tractor plowing operations were measured by the developed system, the slip data of the drive wheel spread from 0 to 80%, and closely related to the field conditions, especially hardness of soil. It is confirmed that the system is useful to measure the farm tractor operation.