【作者】 张俊梅；

【导师】 李文彬； 撒潮；

【作者基本信息】 北京林业大学 ， 机械设计及理论， 2005， 博士

【摘要】 立木整枝是优质工业用材林定向抚育的重要环节。传统的整枝方法效率低、易引起工人的疲劳和事故、作业高度也受到限制,因此自动化的立木整枝机是实现高效、高质量和安全可靠整枝的有效途径。本文是在分析遥控理论和无线电磁波传播机理的基础上,综合运用场强测试技术、电子电路设计及优化技术、无线遥控及通信编解码技术和人机工程学原理,目的在于研发具有自主知识产权的自动立木整枝机。本研究的主要内容和结论如下:1、确定了自动立木整枝机控制系统的研究对象以及遥控方案。2、在分析电磁波传播机理的基础上首次建立了人工林UHF频段无线电波的传播场强预测模型,经过北京西山人工侧柏林中场强测试数据分析校验该模型的平均精度约为0.9,可为合理地设计人工林环境无线电遥测遥控、无线数传等通信电路提供理论依据。另外,本文在场强测试实验基础上确定了自动立木整枝机无线遥控系统发射电路的相关参数、接收系统可靠接收所需的最小电场强度及最大有效遥控距离。3、创造性地研制了基于CPLD的无线数字编码抗干扰自动立木整枝机无线遥控系统,通过优化CPLD内部逻辑电路能有效消除逻辑竞争冒险、降低噪声干扰,确保了系统逻辑设计的正确性,并且采用CPLD芯片使控制系统体积减小了40%左右。①该系统中发射部分采用ASK调制和间断发射方式来降低功耗,据估算,在不考虑电池自放电的情况下800mAh的充电电池供电的发射系统可工作大约一年的时间;②通过通信编解码的地址校验、发射系统中CPLD与发射电路之间通电顺序、接收系统中控制系统与汽油机之间的工作逻辑等优化途径,提高了发射数据的稳定性、可靠性和整机的功能安全性;③自行研制的独特的电动机接口电路、反馈控制电路和驱动隔离电路提高了电动机的控制精度,有效防止了电动机对遥控系统的电磁干扰。4、最后基于人机工程学的原理,合理设计了自动立木整枝机无线遥控发射/接收系统控制界面,对BSR-Z23-001A型自动立木整枝机进行了系统集成和测试。结果表明:有效控制距离为90米,完全可以满足整枝作业的距离要求,且与所建立的电场强度模型预测的结果较吻合。整机控制性能良好、界面操作简便。总之,本文的研究是在综合考虑人工林UHF频段的传播机理、自动立木整枝机的立地条件及控制要求的基础上,通过场强预测、电路仿真、调试及优化等成功研制了BSR-Z23-001A自动立木整枝机无线遥控系统,该系统具有可靠、节能、抗干扰、工作效率高等优点。本研究的成果及方法为推进其他林业机械的自动化与智能化进程提供了一种有效的新思路。更多还原

【Abstract】 Pruning is one of the most important and necessary step of cultivating plantationforest. The traditional pruning machine has low working efficiency, high casualty, limitedprunning height and is difficult to meet the need of fostering the large area of commercialplantation in China. So the key method is to develop an automatic pruning technology,which should be safe, high quality and efficient.Based on studying of the theory of remote control and wireless electromagneticpropagation mechanisms, this paper synthetically applied electric field intensity measuringtechnology, electric circuit design and optimal technology, wireless remote control andcode-decode technology and the theory of ergonomics. The purpose of this study is todevelop the automatic pruning machine with independent intellectual property right. Themain contents and conclusions drawn in the dissertation:1. This thesis works out the study object and remote control mode of the controlsystem of automatic pruning machine.2. Based on analysing of the theory of electromagnetic propagation mechanisms, forthe first time, the electric field intensity predict mode of ultra-high frequency(UHF)wireless frequency band in plantation forest was accomplished. The average accuracy isabout 0.90 in the experiment in oriental arborvitae plantation in Beijing West Mountainarea. So the predict mode could provide theoretical basis for designing telemetry, wirelessremote control, wireless data circuit in plantation forest efficiently. After analysing theexperimental data, the relative patameters and the effective control distance of wirelessremote control transmitting and receiving system of automatic pruning machine weredrawn in the paper.3. The wireless remote control system of automatic pruning machine by using CPLDtechnology, numerical code-decode technology and many other factors were developedcreatively. The race hazard was efficiently eliminated through optimizing the internallogical circuit of CPLD to ensure the accurate logical control of the whole control system.As the core of the control system, CPLD implements the most logic functions and thecircuit design is simplified and the equipment size is downsized by 40%. Additionally thesystem reliability and design flexibility are improved greatly.① ASK modulation and interruptible transmitting in remote control system couldgreatly decrease power dissipation. By calculating, the rechargeable battery with 800mAhcapacity could work about one year for transmitting system without self-discharge.② Many optimal method were used in the system design, such as code-decode,address matching of remote control system, electrified regulation between CPLD andtransmitting circuit, working logical between control system and gasoline engine, etc. toimprove the transmitting data stablity, reliability and function safety of the machine.③ The self-developed special interface circuit, feedback control circuit and drivingand isolation circuit for direct electromotors improve the electromotors’ control acurracyand make the remote control system could avoid the electromagnetic interference causedby electromotors effectively.4. Finally, the wireless remote control display of the automatic pruning machineBSR-Z23-001A was reasonably designed. The ergonomics principle serves as a basis forintegration testing. The debugging result show that the system has good performance, thecontrol display structure is clearly and the operations are easy, the reliable control distanceis 90m which correspond very well with the electric field intensity predict mode and couldmean the control require of the pruning machine absolutely.This research gets the wireless remote control system of BSR-Z23-001A automaticpruning machine by combining the electromagnetic propagation mechanisms, electric fieldintensity measuring, electric circuit simulation and optimal. The control system has theadvantages of easy and reliable operation, high efficiency, anti-interference, economizingon energy. It provides a new idea for pushing forward the automatic scheduling for forestrymachine.更多还原