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Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Agricultural machine automatic navigation is one of the key technologies in precision agriculture technology system, the in-depth study is important in scientific research, application and social values. In this paper, we investigated the navigation problems in the application of the farm work, including slow on-line speed, bad on-line stability, and poor adaptability of bumpy complex road surface. These problems can be summarized as the speed and stability problems of track tracking in the case of large position deviation or large course deviation. Through the analysis of the work principle and control parameters function of the navigation, a conclusion is made that the correct speed and stability of the position deviation and course deviation of agricultural machinery can be improved by allocating the weight of the position deviation wheel angle decision quantity and course deviation wheel angle decision quantity reasonably. Then in this paper, we developed the navigation control algorithm based on the agricultural machine kinematics model and the pole optimal configuration theory. Because of the small angle linearization of course deviation angle and wheel angle during the deducing, the control law can achieve good control effect only in the ideal straight path tracking control with small position deviation, course deviation, and wheel angle. Based on this, a path tracking control method of aiming pursuit model for agricultural machine navigation was proposed aiming at improving the on-line speed, stability and adaptability to complex road surface of the automatic navigation system of agricultural machine. In this method, we selected a tracking target point on the planning path of agricultural machine ahead, and tracked the target point by controlling the steering wheel angle. The direction of the agricultural machine vehicle center point to the target point was called as the aiming course. The desired steering angle would be larger when the deviation was larger between the course of agricultural machine and the aiming course, with a rapid correction of aiming course deviation to achieve the goal of fast tracking the target path. On the other hand, the desired steering angle would be smaller when the deviation was smaller between the course of agricultural machine and the aiming course, with a stable tracking to aiming path to achieve the goal of stable tracking the target path. In this model, the steering wheel angle was designed to be K times of the aiming course deviation and K was called as control gain. The length of the projection of the agricultural machine vehicle center to the target point vector on the planning path was named as the preview distance. The control gain and the preview distance were two important parameters that affected the control effect of the model. In this paper, there were three steps to prove the feasibility of the method. The control gain K and the preview distance were set up by referring to the result of the pole optimal configuration method based on the kinematic model of agricultural machine. By comparing two methods formula, the position deviation wheel angle decision quantity had a linear relationship with the position deviation in the kinematics model method and the position deviation wheel angle decision quantity had an inverse tangent function relationship with the position deviation. The inverse tangent function relation was more beneficial to maintain proper weight of position deviation wheel angle decision quantity and course deviation wheel angle decision quantity that would make the path tracking control of agricultural machinery navigation more rapid and stable. Simulation analysis results of aiming pursuit model algorithm in different position and different course deviation showed that the proposed method had a fast and stable path tracking performance and good robustness and adaptability to the navigation path tracking. The test results of agricultural machine showed that the control method proposed in this paper had a good effect in the rapid responsibility and line tracking performance. In the case of 0.5, 1, 1.5 m initial position error, the on-line time was 6.8, 8.2, 9.4 s, respectively, the corresponding travelling distance was 6.73, 8.11 and 9.33 m, respectively and the corresponding overshoot was 5.2, 7.0, 8.5 cm, respectively. The maximum error of straight-line path tracking for bumpy uneven field was not more than 4.23 cm, the mean value of the absolute value of the error was 1 cm, and the standard deviation was 1.25 cm, which satisfied the operation requirements of agricultural machine. [ABSTRACT FROM AUTHOR]

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

With the rapid development of agricultural aviation, electric multi-rotor unmanned aerial vehicles (UAV) for planting protection are favored in plant protection operations due to their advantages of vertical take-off and landing, air hovering, and easy operation. However, because of its low aerodynamic efficiency, there are currently problems such as low loading mass and short battery life, and it is still necessary to optimize and improve it. The lift characteristics is one of the important parameters for the performance test of the multi-rotor UAV. However, few tests have been conducted on the lifting characteristics of multi-rotor UAV. How do we comprehensively evaluate the lifting characteristics of various types of multi-rotor UAV and make comparisons and judgments on the performance of multi-rotor UAV. At present, there are no standards to follow. Only by clearly defining the evaluation index for lift performance, and by standardizing the test methods and evaluation criteria, the performance of the multi-rotor UAV can be judged and the suggestions for optimization and improvement can be given. Based on the existing research results, this paper considered the functional effectiveness criteria of helicopters combining economy, weight reduction, and heat transfer. A method of test and evaluation for the lift characteristics of the semi-tethered multi-rotor UAV is proposed. It includes performance testing semi-tethered platform, lift characteristics test method and index, and lift characteristics evaluation method. In order to verify the feasibility of the method, the performance test of 3 different models (four-rotor, Type I; six-rotor, Type II; and eight-rotor, Type III) was carried out. The test results show that the 3 models have great difference in power load, weight efficiency and thermal efficiency ratio. Type III is the best in power load, 7.6 mN/W larger than the worst Type I. The best Type I is 0.33 larger than the worst Type Ⅱ in weight efficiency. The best Type III is 10.5 N/°C larger than the worst Type I in thermal efficiency ratio. It reflects the difference in motor and propeller selection and structure of the 3 models of aircraft during the design process, thus showing difference in the performance of the whole machine. On the basis of the above index test, combined with the mathematical model of multi-rotor UAV power system, a scoring method is put forward to evaluate the lift characteristics of the multi-rotor UAV using the power load, weight efficiency and thermal efficiency ratio. The results of the comprehensive score of the 3 types are as follows: Type III > Type I > Type II. The results show that the proposed evaluation method can effectively evaluate the lift characteristics of different types of multi-rotor UAV. It can more objectively and accurately assess the technical level of multi-rotor UAV and strengthen the management of multi-rotor UAV in use. The test and evaluation method presented in this paper can not only be used to evaluate the performance of the multi-rotor UAV, but also provide a reference for the further improvement of the model performance. Of course, in the performance evaluation of multi-rotor UAV, the improvement of power load, weight efficiency and thermal efficiency ratio cannot be excessively pursued, and the balance of technical performance, reliability performance, safety performance, and economical efficiency should be upheld. [ABSTRACT FROM AUTHOR]

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

Proper dynamic modeling is essential for the design and control of paddy field levelers which maintains a level plow while working regardless field unevenness. The simplified rigid multibody method of dynamic modeling, of which modeling and simulation can be handled by hand generally, does not work well in that they do not produce satisfactory results, and there is not easily available method for verifying the simulation results. This paper proposes a flexible multibody approach for the paddy field modeling and simulation, and a method for model verification based on high speed camera measurement. For the former method, it is simplified to decide which bodies to be classified to be rigid or flexible and the related constraint types by studying the structure and theory of the multibody system, while leaving the tedious tasks of building differential-algebra equations and equation solving to the computer-based simulation tools; and the latter method features a non-contact, stereo image way to find the 3D (three-dimensional) position of center of mass and attitude angles of a rigid body through positioning multiple surface points. 1) Modeling. By analyzing the structure and summing up the past experiences, considering that the 3 parallel rods hanging the installation block and plow showed significant flexibility in many directions, a flexible multibody system with 2 rigid bodies (plow and installation block) and 1 flexible body (representing the 3 rods with a flexible beam) and 3 revolute joints in between was built. It was assumed that the tractor body was stationary, which helped to simplify the subsequent simulation and verification by reducing the flexible beam to be a cantilever beam. 2) Simulation. The MapleSim was used to perform the simulation. By introducing the main multibody library models, i.e. flexible beam, rigid body and rigid body frame, and following general modeling procedures, the leveler model was expressed into MapleSim environment. The model parameters were determined by measurement (for dimensions) and computer software like CATIA (computer aided three-dimensional interactive application) and ADAMS (automatic dynamic analysis of mechanical systems) (for mass values and inertial momentums). Among simulation results, curves for the position of the leveler's center of mass and inclination angle were produced. 3) Verification. Formulae finding the position of mass center and attitude angles of the plow by multiple surface points' 3D positions (at least 3 points that do not fall on the same straight line) were proposed, and the surface points' 3D positions were determined by the stereo imaging system composed of 2 high-speed cameras and the professional image analysis software TEMA. Laboratory tests on specially designed fixtures were conducted, which produced the plow's 3D position of mass center and its inclination angle as measured results to be used against the simulated results for model verification. The verification showed that the 2 kinds of results generally coincided with each other well, indicating that the modeling, simulation and verification method proposed is feasible and practical, though a closer check showed the inclination curves agreed quite well, but the position curves of mass center revealed a maximum deviation of 10 cm at times. Some causes for the difference were proposed. The method proposed in this paper, which includes modeling by structure analysis, simulation using software, and verification by measuring 3D position of center of mass and attitude angles of a rigid body using high-speed cameras, is feasible and applicable to similar mechanical virtual prototyping applications featuring modeling, simulation and verification. [ABSTRACT FROM AUTHOR]

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

In order to study the damage and mechanism of corn during corn ear picking, this paper analyzed the force of corn ear when picking corn ear, and then found that there were 3 kinds of forces working on corn ear, which were the reacting force, the frictional forces of stripping roller and the force of stripping roller rib, and caused the corn ear damage with different forms. This paper made the mathematical model of forces, and analyzed their change law and their influence on the damage of corn ear. With the rising of corn ear diameter, the reacting force, the frictional forces of stripping roller and the seed loss increased. The experiments of corn ear picking were carried out on test bed. The results showed that the damage of corn seed increased as the length of corn ear was greater than 175 mm. Because with the increase of the corn ear, the center of gravity for corn ears was upward and the corn ear swing increased when it was picked, the probability of collision increased. The rate of corn damage descended as the rotating speed of stripping roller changed from 650 to 800 r/min. When the rotating speed of stripping roller was more than 800 r/min, the corn damage increased significantly. When the rotation of stripping roller became faster, the down velocity of corn ears became bigger, the impact between corn ear and stripping roller increased, and the corn damage rose. Besides, the reduction of friction between the maize straw and stripping roller was another reason for the increasing of corn damage. The corn seed loss rate decreased and then increased as the rotating speed of stripping roller changed from 650 to 750 r/min, and the corn seed loss rate decreased again as the rotating speed of stripping roller changed from 750 to 850 r/min. Because when the rotation of stripping roller became faster, the corn ear down speed became bigger, the impact between the corn ear and stripping roller increased. The corn damage and seed loss decreased and then increased as the stripping roller clearance changed from 8 to 15 mm. The corn damage and seed loss were the minimum when the stripping roller clearance was 10 mm, and then with the clearance of stripping roller increasing, the corn damage and seed loss ascended, which was consistent with the result of theoretical analysis. And the mechanical damage form of corn usually included corn nibbled, corn impacted, corn extruded and broken corn ear. The process of corn ear picking was recorded with the high-speed camera and the movement of corn ear was analyzed. The results indicated that the moving velocity of corn ear had no effect on corn damage. It was also observed from the record that the moving state of corn ear picking had 3 types: first, corn ear was picked smoothly and entered the conveyer device; second, corn ear bounced; third, corn ear picking became difficult or corn ear contacting stripping roller for a long time. And the corn ear damage became more serious with the increasing of the contacting time between corn ear and stripping roller. [ABSTRACT FROM AUTHOR]

Copyright of Transactions of the Chinese Society of Agricultural Engineering is the property of Chinese Society of Agricultural Engineering and its content may not be copied or emailed to multiple sites or posted to a listserv without the copyright holder's express written permission. However, users may print, download, or email articles for individual use. This abstract may be abridged. No warranty is given about the accuracy of the copy. Users should refer to the original published version of the material for the full abstract. (Copyright applies to all Abstracts.)

In order to solve the problems of high resistance and high power consumption of rotary tillage and land preparation, the rotary blade is studied based on theoretical analysis, simulation and field experiment in this paper. First, a wedge drag reduction rotary blade is designed based on the theoretical force model of cutting tools in mechanical soil dynamics. Second , the three-dimensional model of the national rotary blade and the wedge drag reduction rotary blade is established by using the Inventor software and the simulation experiment is carried on. The cutting soil model of 2 kinds of rotary blades is established by using HyperMesh software, and the material parameters, boundary constraints and working parameters are defined. On this basis, the soil cutting process, stress and cutting resistance are analyzed. It is proved that the wedge drag reduction rotary blade design is reasonable. In order to verify whether the wedge drag reduction rotary blade meets the strength requirement, the stress of the rotary blades is analyzed, and the cutting resistance of the national rotary blade and the wedge drag reduction rotary blade are compared. Third, field comparative experiments are carried out on national rotary blade and wedge drag reducing rotating blade with the evaluation indexes of torque, power consumption and soil breakage. The results show that the cutting resistance of the wedge drag reduction rotary blade is smaller than that of the national rotary blade; the maximum stress of the national rotary blade is 35.68 MPa and the maximum stress of the wedge drag reduction rotary blade is 29.49 MPa, which is less than that of the national rotary blade and far less than the yield strength of the material 430 MPa. On the premise of ensuring the strength of the blade body, the weight of the wedge drag reduction rotary blade is reduced by about 50 g, which is about 8.3% lower than that of the national rotary blade. The maximum cutting resistance of the national rotary blade is 530 N, the average cutting resistance is 375.5 N, and the maximum cutting resistance of the wedge drag reduction rotary blade is 510 N, the average cutting resistance is 335.5 N, the average cutting resistance of the wedge drag reduction rotary blade is 10.65% lower than that of the national rotary blade, which proves the feasibility of the wedge drag reduction rotary blade designed; The average torque of the wedge drag reduction rotary blade is 11.35% lower than that of the national rotary blade. In the working process of rotary blades, the average power consumption of the national rotary blade is 74.2 kW, the average power consumption of the wedge drag reduction rotary blade is 67.3 kW, and the average power consumption of the wedge drag reduction rotary blade is 9.29% lower than that of the national rotary blade. The average breaking rate of soil of the national rotary blade is 75%, and the average breaking rate of wedge drag reduction rotary blade is 79%, which is 4% higher than that of the national rotary blade; After continuous 33 hm2 tillage, rotary blades did not break, and the average wear of the national rotary blade is 98.5 g, the average wear of the wedge shaped drag reduction rotary blade is 97.3 g, the wear difference is 1.3%, and the wear degree is the same. The wedge drag reduction rotary blade can effectively solve the problems of high resistance and high power consumption of rotary blade, which is helpful to accelerate the development of arable land machinery, improve the mechanization level of cultivated land, and reduce the production cost of crops. [ABSTRACT FROM AUTHOR]

A hydrostatic drive system scheme for the high clearance self-propelled corn detasseling machine was proposed and the dynamic performance of the system was simulated and tested in this paper. Although detasseling machines have much higher working efficiency than manual detasseling, they have just been used for a few years in China and mostly were imported from abroad at a high price. Since the machine demanded a high ground clearance, the closed volumetric speed control loop with one pump and four motors was adopted. The engine directly drives the pump to output high pressure fluid to the four-wheel motors, and then the motors drive the hub reducers to turn the wheels. It can be concluded that the vehicle can achieve 3 gears of I, II and III by choosing the appropriate maximum and minimum displacements of motors and reducer gear ratios. To better analyze the performance of the drive system, a detasseling machine model with 15 degrees of freedom was built according to the vehicle structure features. The vehicle model included vehicle body model, wheel model and four-wheel independent suspension system model. Meanwhile, the mathematical model of the hydrostatic drive system was derived, which included pump model, motor model and reducer model. Then, the simulation model of vehicle dynamics of detasseling machine was presented using the software Matlab/Simulink based on the mathematical models. The simulation model was used to study the performance of speed and system pressure of the vehicle at 3 gears. And the results showed that the vehicle could get a maximum travel speed of 15.8, 19.7 and 26.1 km/h, and a steady system pressure of about 6.29, 7.30 and 8.94 MPa at the 3 gears of I, II and III, respectively, which could meet various application conditions. As a special component of detasseling machine, the effect of the suspension system on the drive system was testified. By exerting a road excitation on one wheel, the system pressure of the vehicle with the suspension was contrasted with the one without suspension. The results showed that the pressure of the one with the suspension fluctuated much narrower and smoother than the other, which meant the suspension could effectively improve the performance of the drive system. To verify the mathematical model and to further research the drive system, a high clearance self-propelled corn detasseling machine was designed to conduct the tests. During the process of changing the displacement of pump from the minimum to the maximum value at each gear, the maximum travel speed was recorded, and the variations of the inlet and outlet pressure of the pump and motor were measured. The main test devices contained oil pressure sensors, acceleration sensors, data acquisition card of National Instruments, switching power supply and laptop, and the software LabVIEW was used for data processing. The vehicle tests showed that with the increase of pump displacement, the system pressure of the high pressure side first trended to increase sharply and then decreased to a stable value of 6.361, 7.286 and 8.717 MPa at the 3 gears of I, II and III, respectively, which was consistent with the simulation results. And the pressure of the low pressure side was about 2.4 MPa, which was equal to the system charge pressure. In addition, the maximum driving speed of the machine at the 3 gears was 15, 19 and 24 km/h respectively, which was lower than the theoretical values. That was mainly due to the leakage loss of hydraulic components and the mechanical friction loss. The simulation and test results showed that the vehicle drive system had a rapid response and a good performance, and the correctness of the mathematical model of the machine was also verified. The study can provide a technical reference for the independent research and development of the high clearance self-propelled corn detasseling machine in China. [ABSTRACT FROM AUTHOR]

Licorice is not only an important Chinese herbal medicine, but also widely used as an additive in food industry.With the increasing demand of licorice, wild licorice resources can not meet the needs of the market.Artificial cultivation of licorice has become an effective way to solve the problem between the supply and demand of licorice resources.Direct seeding method leads to dredge difficult and large labor consumption when harvest because of its low seedling survival rate, large quantity, long growth cycle, and deep roots.Research shows that seedling transplanting can be used for licorice planting.By this way, the licorice roots can grow strongly and healthily with good quality and high yield; and it is also easy for mechanized harvesting.Seedling transplanting is an ideal cultivation model for artificial cultivation of licorice.At present, the cultivation of licorice in China is still in the manual operation stage, from which exist many problems, such as large labor input, high cost, low production efficiency, poor transplanting quality, etc.Due to the impact of the above problems, the scale of the cultivation of artificial transplanting of licorice has been greatly restricted.A lot of relevant research documents show that the development trend of the cultivation of licorice is the mechanization of transplanting.However, the research on the transplanting machine of licorice in China is still in its early stage, and there is no mature and practical application of the licorice root transplanting machine.In this paper a licorice tilt transplanting opener was proposed.The analysis and experiment of the structure and work parameters of the opener were carried out, which provided the research foundation for the design of the licorice transplanting machine.In order to analyze the forming mechanism of the tilt transplanting furrow opener, the soil backflow model and seedling position parameter model were built.Through analyzing results of the mathematical model, a multi factors orthogonal test for the opener was executed by changing the soil backflow port angle, the space between two wing plates, velocity, the furrower operating depth and the soil repose angle.The opener orthogonal test results showed that main influencing factors of the inclined V type groove tilt angle was the soil backflow port angle.The primary and secondary order of the factors affecting the length of the ditch was:the furrow opener operating depth, the soil backflow port angle, the space between two wing plates, the soil repose angle and the velocity.The results also showed that the formula built by mathematical model could be used for design the opener to make V type inclined groove.Under the agronomic condition of 30° inclined transplanting with 300 mm long licorice roots.When the lag seedling coefficient value less than 1, the licorice angle decreased with the lag seedling coefficient value decreased, and decreased with the increase of the opener velocity.When the lag seedling coefficient value was equal or greater than 1, the licorice angle fluctuated between 28°-31°.The opener had the advantages of stable working performance. [ABSTRACT FROM AUTHOR]