TOPRAK İŞLEMEDE PATİNAJIN OTOMATİK KONTROLÜ

Yıl 2020, , 848 - 858, 07.08.2020

Serhat Soylu , Kazım Çarman

https://doi.org/10.28948/ngumuh.722088

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

Öz

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.

Anahtar Kelimeler

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

Kaynakça

• S.M. Shafaei, M. Loghavi, S. Kamgar, “A practical effort to equip tractor-implement with fuzzy depth and draft control system,” Engineering in Agriculture, Environment and Food 12, 191-203, 2019.
• G. Moitzi, H. Weingartmann, J. Boxberger, “Effects of tillage systems and wheel slip on fuel consumption,” Energy Efficiency and Agricultural Engineering – International Scientific Conference 7. – 9. 2006, Rousse, Bulgaria, 2006.
• G. Moitzi, Kraftstoffeinsatz in der Pflanzenproduktion. Kraftstoffkostensparen in der Landwirtschaft. ÖKL-Kolloquium 2005 an der Universität für Bodenkultur, Wien, 2005.
• ASAE Standard, “Uniform Terminology for Traction of Agricultural Tractors, Self-Propelled Implements, and Other Traction and Transport Devices,” S296.2, ASABE Standards, St Joseph, MI, 1983.
• R.D. Wismer, H.J. Luth, “Off-road traction prediction for wheeled vehicles,” ASABE Paper No. 72–619, 1972.
• W.W. Brixius, “Traction Prediction Equations for Bias Ply Tires,” ASAE Paper No. 871622. ASABE St. Joseph. MI 49085, 1987.
• F.M. Zoz, “Predicting tractor field performance,” Trans. ASAE 15 (2), 249–255, 1972.
• C. Gupta, V.K. Tewari, A.A. Kumar, P. Shrivastava, “Automatic tractor slip-draft embedded control system,” Computers and Electronics in Agriculture 165, 104947, 2019.
• S. Ekinci, K. Çarman, “Effects Of Some Properties Of Drive Tires Used In Horticultural Tractors On Tractive Performance,” Journal of Agricultural Sciences. 23 (1), 84-94, 2017.
• P.A. Cowell, S.C. Len, “Field performance of tractor draught control systems,” J. Agric. Engng Res. 12 (3), 205–221, 1967.
• P.K. Pranav, K.P. Pandey, V.K. Tewari, “Digital wheel slipmeter for agricultural 2WD tractors,” Computers and Electronics in Agriculture 73, 188–193, 2010.
• N. Singh, G. Singh, V.M. Salokhe, “Cyclic variation in moldboard plow draft and its effect on implement control systems,” Soil Tillage Res. 21, 273–286, 1991.
• M.J. Dwyer, D.A. Crolla, G. Pearson, “An investigation of the potential for improvement of tractor draught controls,” J. Agric. Engng Res. 19, 147–165, 1974.
• P.A. Sánchez, S.K. Upadhyaya, K. Sakai, “Variability in Draft Data Observed During Tillage,” An ASAE Meeting Presentation. Paper No. 031121, 2003.
• P.K. Pranav, “Development of slip sensing and control system for two wheel drive tractors,” Unpublished Ph.D thesis, IIT Kharagpur, 2011.
• P.A. Cowell, M.J. Milne, “An implement control system using pure draught sensing and modified linkage geometry,” J. Agric. Engng Res. 22, 353–371, 1977.
• V.G. Arude, D.T. Pacharne, V.K. Tewari, “Location of controls and operator’s activities in Indian tractors,” Agric. Mech. Asia Afr. Lat. Am. 30 (3), 19–22, 1999.
• S.M. Ismail, G. Singh, D. Gee-Clough, “Preliminary investigation of a combined slip and draught control for tractors,” J Agric Eng Res. 26, 293–306, 1981.
• S.M. Ismail, G. Singh, D. Gee-Clough, “Comparison of the field performance of three implements control systems for a tractor,” J. Agric. Engng Res. 28 (6), 521–536, 1983.
• T. Marakoğlu, K. Çarman, “Energy balance of direct seeding applications used in wheat production in middle Anatolia,” African Journal of Agricultural Research, 5(10), 988-992, 2010.
• A.A. Al-Janobi, S.A. Al-Suhaibani, “Draft of primary tillage implements in sandy loam soil,” Appl. Eng. Agric. 14 (4), 343–348, 1998.
• H. Raheman, S.K. Jha, “Wheel slip measurement in 2WD tractor,” Journal of Terramechanics 44, 89–94, 2007.
• A. Al-Janobi, “A Data-acquisition System to Monitor Performance of Fully Mounted Implements,” J. Agric. Engng Res. 75, 167-175, 2000.
• A. Yahya, M. Zohadie, A.F. Kheiralla, S.K. Giew, N.E. Boon, “Mapping system for tractor-implement performance,” Comput. Electron. Agric. 69 (1), 2–11, 2009.
• S.A. Al-Suhaibani, A.E. Ghaly, “Comparative study of the kinetic parameters of three chisel plows operating at different depths and forward speed in a sandy soil,” Int. J. Eng. Sci. 2 (7), 42–59, 2013.
• P.K. Pranav, V.K. Tewari, K.P. Pandey, K.R. Jha, “Automatic wheel slip control system in field operations for 2WD tractors,” Computers and Electronics in Agriculture 84, 1–6, 2012.
• G. Moitzi, H. Wagentristl, K. Refenner, H. Weingartmann, G. Piringer, J. Boxberger, A. Gronauer, “Effects of working depth and wheel slip on fuel consumption of selected tillage implements,” Agricultural Engineering International, The CIGR e-journal 16(1), 182 – 190, 2014.
• A.A. Kumar, V.K. Tewari, C. Gupta, C.M. Pareek, “A device to measure wheel slip to improve the fuel efficiency of off road vehicles,” Journal of Terramechanics 70, 1–11, 2017.
• A.A. Kumar, V.K. Tewari, B. Nare, “Embedded digital draft force and wheel slip indicator for tillage research,” Computer and Electronics in Agriculture 127, 38-49, 2016.
• S.M. Shafaei, M. Loghavi, S. Kamgar, “Development and implementation of a human machine interface-assisted digital instrumentation system for high precision measurement of tractor performance parameters,” Engineering in Agriculture, Environment and Food 12, 11–23, 2019.
• S. Karparvarfard and H. Rahmanian-Koushkaki, “Development of a fuel consumption equation: Test case for a tractor chisel-ploughing in a clay loam soil”, Biosystems engineering, 130, 23-33, 2015.
• Y. Dilay, K. Sabancı, A. Özkan and C. Aydın, Traktörlerde Patinajın Sensör Yardımıyla Hesaplanması, Tarım Makinaları Bilimi Dergisi, 12 (1), 45-50, 2016.
• E. Gülsoylu and T. Günhan, “Traktör ve Tarım Makinaları Tarla Performansının Belirlenmesinde Kullanılan Bir Veri Toplama Sistemi”, Tarım Makinaları Bilimi Dergisi, 3 (4), 225-231, 2007.