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

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Materials and methods 54 Figure 4.6 Typical change of the torque intensity for trapezoidal response of the speed (MA – acceleration torque, MF – friction torque, MD – deceleration torque, ∆u – change of the rotational speed, ∆t – change in time) It is obvious that the acceleration torque can be calculated as a subtraction between the maximal torque value applied for acceleration and the friction torque. A possibility to graphically interpret the both torque values, the rotational speed change and change in the time (picking up any two points along the speed profile) of the accelerating system based on the online measurement allows calculation of the load inertia using Equation (4.8). The actual acceleration of the motor α can be calculated as a quotient of the rotational speed change and change in the time, while the inertia of the motor JM is a characteristic provided by the manufacturer. SigmaWin is the accompanying software of the servo drive which beside other acquisitioning possibilities provides tracing of the torque and speed. Tracing graphs of the acceleration to 750 rpm with torque limitation to 100 % of the nominal value are presented in Figure 4.7 and Figure 4.8. Figure 4.8 contains the zoom of the acceleration, making possible the measurement of the change in time while the system accelerate from 100 to 600 rpm. Vertical marker cursors can be adjusted to the points where the speed reaches the mentioned values and the software automatically returns the time passed between these two points.
Materials and methods Another tool provided by Yaskawa allows the calculation of the inertia ratio parameter based on the theoretical approach introduced in this chapter. For the system rotating with 30 rpm (motor rotates with 750 rpm) and limitation of the torque peak to 100 % of the nominal value, the inertia ratio parameter was 4. This parameter was adjusted using the SigmaWin software to provide optimal response of the system to the speed change during the hoeing. Reference torque [%] Reference torque [%] 160 140 120 100 80 60 40 20 0 -20 Rotational speed Reference torque -40 0 50 100 150 200 250 300 350 400 450 500 -200 Time [ms] Figure 4.7 Experimental determination of hoeing tool’s inertia ration 160 140 120 100 80 60 40 20 0 -20 Rotational speed Reference torque 15.88 ms 500 rpm -40 300 305 310 315 320 325 330 335 -200 Time [ms] Figure 4.8 Experimental determination of hoeing tool’s inertia ration with zoomed area of interest 800 700 600 500 400 300 200 100 0 -100 800 700 600 500 400 300 200 100 0 -100 Rotational speed of the motor [rpm] Rotational speed of the motor [rpm] 55
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Institut für Landtechnik der Rhein
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Development of a novel mechatronic
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Kurzfassung Entwicklung eines neuar
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Acknowledgements Acknowledgements M
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Table of contents Table of contents
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Glossary of abbreviations and symbo
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Symbol Unit Description Mmmax Nm Ma
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Symbol Unit Description Glossary of
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ωold ωout rad s -2 Latest rotatio
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Introduction The most frequently us
Page 22 and 23: Introduction application that had p
Page 24 and 25: Introduction be to go from a system
Page 26 and 27: Introduction limited and environmen
Page 28 and 29: Introduction than 40 years before g
Page 30 and 31: Introduction techniques. It is know
Page 32 and 33: Introduction Sowing and planting al
Page 34 and 35: Introduction Inter-row weeding syst
Page 36 and 37: Introduction 18 Figure 1.3 Inter-ro
Page 38 and 39: State of the art 20 Figure 2.1 a) F
Page 40 and 41: State of the art cylinder rotates a
Page 42 and 43: State of the art 1998). This device
Page 44 and 45: State of the art 26 2.2 Detection o
Page 46 and 47: State of the art The fluorescence s
Page 48 and 49: Definition of the problem and resea
Page 51 and 52: 4 Materials and methods 4.1 Detecti
Page 53 and 54: Materials and methods Figure 4.1 a)
Page 55 and 56: Materials and methods Figure 4.3 a)
Page 57 and 58: 4.1.2 Data acquisition 4.1.2.1 Hard
Page 59 and 60: 4.1.4 Test objects Materials and me
Page 61 and 62: Materials and methods become a poss
Page 63 and 64: Materials and methods environments
Page 65 and 66: Materials and methods dimensions ne
Page 67 and 68: Materials and methods (PFM). As the
Page 69 and 70: Materials and methods A command sig
Page 71: Materials and methods The drive con
Page 76 and 77: Results and discussion 58 Figure 5.
Page 82 and 83: Results and discussion objects. Acc
Page 84 and 85: Results and discussion Plant positi
Page 86 and 87: Results and discussion Plant positi
Page 88 and 89: Results and discussion 70 5.1.4 Dis
Page 92 and 93: Results and discussion Connection b
Page 94 and 95: Results and discussion 76 5.2.1 Opt
Page 96 and 97: Results and discussion xmi1 = ( RLA
Page 98 and 99: Results and discussion With the inv
Page 100 and 101: Results and discussion 82 Horizonta
Page 102 and 103: Results and discussion 84 5.2.4 Sel
Page 104 and 105: Results and discussion 86 5.2.5 Dis
Page 106 and 107: Results and discussion Conventional
Page 108 and 109: Results and discussion Since the fi
Page 110 and 111: Results and discussion To avoid con
Page 112 and 113: Results and discussion As the size
Page 114 and 115: Results and discussion 96 5.3.4 Alg
Page 116 and 117: Results and discussion 98 V = zc( t
Page 118 and 119: Results and discussion corresponds
Page 120 and 121: Results and discussion 102 5.3.6 Me
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Results and discussion hoeing accur
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Results and discussion between the
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Results and discussion distance fro
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Results and discussion Distribution
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Results and discussion cuts are ran
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Results and discussion Forward spee
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Results and discussion x [mm] Distr
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Results and discussion The experime
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6 Summary Summary Neither a mechani
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Summary The third part of the work
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7 Conclusions Conclusions The prese
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8 References References Agrios, G.
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References in California's Sacramen
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References Johnson, W C and Mullini
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References Schans, D. v. d. et al.
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List of figures List of figures Fig
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List of figures Figure 5.24 Scheme
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Plant position 9 Appendix Table 9.1
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Plant position Table 9.3 Detection
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Personal data Education About the a
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