Development of a novel mechatronic system for mechanical weed ...

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Results and discussion
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Figure 5.36 Estimation of the hoeing quality attained after the
experiment with intensive acceleration of the forward
speed, limited to the 100 mm transversal area around
the plant centre position: a) distribution of the cuts under
the soil surface transformed to a relative distance from
the plant centre position (�) for duckfoot number 3 (�)
and duckfoot number 1 (�); b) mean distances of
duckfoot number 3 (�) and duckfoot number 1 (�) in
relation to the plant centre position (�)
After removing the data acquired in the range of 450 to 1650 mm from the data
set, it is possible to analyse the quality of the hoeing on the remaining track. It
allows checking of the system behaviour after hasty change of the speed. The
graphs containing filtered data are presented in Figures 5.37 and 5.38.
Obviously, the system had successfully overcome the difficulties caused by the
highly dynamical speed change and immediately after the decrease of the
acceleration it was able to stabilise the rotational speed and correctly position
the cuts around the following plants. The smallest undisturbed area with a
diameter equal to dp= 46 mm, and normally distributed cuts done by both of the
duckfoot knives can indicate the stable work of the hoeing system.
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