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Author:Kunnas, Antti
Title:Embedded Control System for Agricultural Machinery implemented in Forage Harvesting
Maatalouskoneiden sulautettu ohjausjärjestelmä rehunkorjuussa
Publication type:Master's thesis
Publication year:2011
Pages:viii + 66 s. + liitt. 4      Language:   eng
Department/School:Automaatio- ja systeemitekniikan laitos
Main subject:Automaatiotekniikka   (AS-84)
Supervisor:Visala, Arto
Instructor:Backman, Juha
Electronic version URL: http://urn.fi/URN:NBN:fi:aalto-201207022761
OEVS:
Electronic archive copy is available via Aalto Thesis Database.
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Location:P1 Ark Aalto  937   | Archive
Keywords:ISO 11783
agricultural machinery
embedded systems
ISO 11783
maatalouskoneet
sulautetut järjestelmät
Abstract (eng): Efficient use of machines is especially important in forage harvesting due to the short harvesting period and expensive machinery.
To achieve the best efficiency, a harvesting machine, such as a loader wagon, should be used with optimal loading.
Whereas overloading the machine can cause blockages in the cut-and-feed unit, underloading consumes more time and reduces the quality of the resulting silage.
In addition, the quality can be improved by optimizing the dosage of the additive.

In this thesis, two ISO 11783 compatible electronic control units were implemented for optimizing the harvesting process.
The electronic control units were developed using a tool chain designed for developing ISO 11783 systems.
The main parts of the tool chain are Matlab Simulink with C code generation, PoolEdit with the associated parsers, and Visual Studio with a Windows CE embedded target.
Mass flow of forage in the cut-and-feed unit of the wagon is estimated with a Kalman filter according to tractor speed, swath size, mass of the load, and moisture content of the forage.
The mass flow estimation is used to derive the optimal spreading rate of additive so that the ratio of additive and forage is precisely what is desired.
The speed of the tractor is controlled with a fuzzy controller according to the capacity of the machine, the mass flow estimation, and the swath size.

As a result, the mass flow in the cut-and-feed unit is always optimal regardless of the swath size and thus no blockages will be formed.
In the field tests, the performance of the system proved to be in line with the specification.
Abstract (fin): Koneiden tehokas käyttö on erityisen tärkeää rehunkorjuussa lyhyen korjuuajan ja koneiden kalleuden takia.
Parhaan tehokkuuden saavuttamiseksi noukinvaunun kaltaisen korjuukoneen kuormituksen tulisi olla optimaalinen.
Ylikuormitustilanteessa noukin voi tukkeutua, kun taas alikuormitus kuluttaa aikaa ja heikentää rehusilpun laatua.
Laatua voidaan myös parantaa säilöntäaineen tarkalla annostelulla.

Tässä diplomityössä kehitettiin kaksi ISO 11783 ohjainta parantamaan rehunkorjuun tehokkuutta.
Ohjaimet kehitettiin käyttäen työkaluketjua, joka on suunniteltu ISO 11783 ohjainten kehitykseen.
Työkaluketjun pääosat ovat Matlab Simulink C-koodin generoinnilla, PoolEdit ja siihen liittyvät parserit sekä Visual Studio ja Windows CE tietokonemoduuli.
Rehun massavirtaa noukkimella estimoidaan Kalman-suotimella nopeuden, karhon koon, kuorman massan sekä kosteuden perusteella.
Massaestimaatin perusteella säilöntäainetta voidaan levittää rehuun siten, että säilöntäaineen ja rehun suhde on optimaalinen.
Traktorin nopeutta säädetään sumealla säätimellä koneen kapasiteetin, estimoidun massavirran sekä karhon koon perusteella.
Lopputuloksena massavirta pysyy optimaalisena riippumatta karhon koon muutoksista eikä tukoksia pääse syntymään.
Peltotesteissä laitteiston todettiin toimivan määrittelyn mukaisesti.
ED:2012-04-25
INSSI record number: 44314
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