TOPRAK İŞLEMEDE PATİNAJIN OTOMATİK KONTROLÜ

Öz

Bu çalışmada, toprak işleme faaliyetleri esnasında tarım traktörlerinde oluşan patinajı, belirlenen sınır değerde tutmak için, traktöre bağlı toprak işleme ekipmanının çalışma derinliğini otomatik olarak ayarlayan bir kontrol sistemi geliştirilmiştir. Geliştirilen otomatik kontrol sistemi traktör tahrik tekerleklerinde oluşan patinajı sürekli olarak ölçmüş ve patinaj değerindeki artış miktarına göre ayarlanan toprak işleme derinliğini azaltmıştır. Patinaj miktarı izin verilen seviyede iken toprak işleme ekipmanı ayarlanan derinlik değerinde çalışmıştır. Çalışmada ayrıca, patinaj miktarı belirlenen sınır değeri aştığında, sürücüyü toprak işleme derinliğini azaltması için uyaran bir de sürücü uyarı sistemi tasarlanmıştır. Sürücü uyarı sistemi, ölçülen patinaj değerine göre sürücüyü renkli LED (Light Emitting Diode)’ler yardımıyla görsel olarak ve bir siren yardımıyla da sesli olarak uyarmaktadır. Geliştirilen otomatik kontrol sistemi, tasarlanan sürücü uyarı sistemi ile ve operatörün kendi kontrolü ile ayrı ayrı karşılaştırılmıştır. Patinaj değeri, traktörün gerçek ilerleme hızı ile tahrik tekerleklerinin dönüş hızı karşılaştırılarak hesaplanmıştır. Otomatik kontrol sistemi ve sürücü uyarı sistemi New Holland TD110 model bir tarım traktörüne monte edilmiş ve gerçek tarla koşullarında denemeler yapılmıştır. Denemeler sonucunda, sırasıyla sürücü uyarı sistemi ve operatör kontrolüne göre, otomatik kontrol sistemi ile gerçekleştirilen toprak işleme faaliyetlerinde, patinaj değerlerinde %3-29 ve yakıt tüketiminde %22-30 azalma olduğu belirlenmiştir. Traktörle toprak işleme ekipmanı arasında oluşan çeki kuvvetinde ise, otomatik kontrol sisteminde operatör kontrolüne göre %5’ten fazla azalma olduğu görülmüştür. Bununla beraber, toprak işleme derinliğinde, kontrol yöntemleri arasında neredeyse hiç değişiklik olmadığı gözlenmiştir.

Anahtar Kelimeler

• Otomatik kontrol sistemi
• Patinaj
• Tarım Traktörleri
• Toprak işleme derinliği
• Yakıt verimliliği

AUTOMATIC CONTROL OF WHEEL SLIP IN SOIL TILLAGE

Abstract

In this study, a control system that automatically adjusts the working depth of the tractor tillage equipment has been developed in order to keep the wheel slip occurring in agricultural tractors during the tillage activities at the determined limit value. The developed automatic control system continuously measured the wheel slip on the tractor drive wheels and reduced the tillage depth adjusted for the wheel slip increase. While the amount of wheel sip was at the allowed level, the tillage equipment worked at the set depth value. In the study, a driver warning system is also designed to alert the driver to reduce the tillage depth when the amount of wheel slip exceeds the specified limit value. The driver warning system warns the driver visually with the help of colored LEDs and audibly with a buzzer according to the measured wheel slip value. The developed automatic control system was compared separately with the designed driver warning system and the operator's own control. The wheel slip value was calculated by comparing the forward speed of the tractor with the speed of the drive wheels. The automatic control system and driver warning system were installed on a New Holland TD110 agricultural tractor and trials were carried out in real field conditions. As a result of the trials, according to the driver warning system and operator control, it was determined that there was a 3-29% reduction in wheel slip and a 22-30% reduction in fuel consumption in soil tillage activities carried out with automatic control system. On the other hand, the draft force decreased by more than 5% compared to the operator control in the automatic control system. However, it was observed that there was almost no change in the average tillage depth between the control methods.

Keywords

• Agricultural tractors
• Automatic control systems
• Fuel efficiency
• Plowing depth
• wheel slip

Kaynakça

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