In order to solve the problems of inefficiency and heavy physical labour in the operation of agricultural sprinkler irriga-tion,an self-propelled agricultural automatic pipe winding machine is designed,which is composed of guide mechanism,extend-ing-retracting mechanism,pipe arrangement mechanism and control system.A precision pipe arrangement system based on step-ping motor and a constant tension control method based on incremental PID are proposed,and a prototype of automatic pipe coil-ing machine is developed.The test results show that the automatic pipe coiling machine has good effect on pipe arrangement,it can adapt to the water pipes of different diameters and the pipes are arranged orderly and tightly.The constant tension control of the pipe coiling machine is also well-performed,the maximum relative error of the water pipe tension under the 4.0km/h condi-tion is 7.7％,and the maximum relative error of the water pipe tension under the(0～4.0)km/h speed step variable condition is 15.3％,the speed of the pipe coiling and releasing can adapt to the change of the vehicle speed,the tension of the water pipe is al-ways in a rational bounds.
关键词
喷灌/卷管机/自动排管/恒定张力/PID/步进电机
Key words
Sprinkling Irrigation/Pipe Coiling Machine/Automatic Pipe Arrangement/Constant Tension/PID/Stepper Motor
维普
万方数据