Resumen
In order to improve the solution to the unachieved uniformity of straw throwing, the unachieved qualified rate of coverage and the uneven straw throwing in sowing wheat without a tillage process after the rice harvest, and to change this unsatisfied quality of the straw mulch, a set of automatic control systems for straw throwing and covering was designed innovatively. An STM32 microcontroller was used as the main control unit, and the torque-acquisition system was used to collect the torque of the cutter roller shaft in real time and convert it into the conveying signal of the crushed straw. The control system changes the conveying quantity of broken straw in real time, through the dynamic response. This process realizes the optimal dynamic matching between the conveying amount of crushed straw and the impeller speed. We set up two kinds of tests: a straw-crushing-and-throwing system test bench (T6)6 with an automatic control system and a control test bench (C) without an automatic control system. T1 to T5 are, in turn, 0.85 m/s, 1.0 m/s, 1.15 m/s, 1.30 m/s and 1.45 m/s. For the C test, six test levels of 0.85 m/s (C1), 1.0 m/s (C2), 1.15 m/s (C3), 1.30 m/s (C4), 1.45 m/s (C5) and variable speed test (C6) were also set as control tests. The running time of the test-bed at each test level was 10 s; taking the throwing uniformity of the crushed straw and the rate of coverage as indexes, the rapid effect of the throwing-impeller speed on the test indexes at six levels was studied, and compared with the control test. Based on the great practical needs of this problem, this experiment innovatively realized the automatic regulation of the rotating speed of the scattering impeller at different forward speeds. Although some experimental innovations have been made in this study, the smashing knife (group) of the knife roller shaft will hit the ground during the rotation, which brings uncertainty and certain experimental errors to the real-time monitoring of the torque signals. In the next step, more sensors and intelligent algorithms will be added to the system, to reduce the knife throwing.