Method for regulating the throwing behavior of a centrifugal spreader for fertilizer

Abstract

The invention relates to a method for regulating the throwing behavior of a centrifugal spreader for fertilizer and to a centrifugal spreader configured therefor. According thereto, a target throwing distance is determined for a target working width. Furthermore, one of several rotational speed levels is selected for at least one spreading disc to approximate the actual throwing distance to the target throwing distance. Finally, an adapted target throwing angle for regulating an actual throwing angle is determined from the actual throwing distance (WW1) and counteracts in a compensatory manner a deviation from the target working width caused be the difference between the actual throwing distance and the target throwing distance. Continuous regulation of the throwing distance then becomes unnecessary, resulting in more stable regulation of the overall throwing behavior.

Claims

1. A method for regulating a throwing behavior of a centrifugal spreader for fertilizer, comprising: determining a target throwing distance for a target working width, where one of a plurality of rotational speed levels is set for a spreading disc to approximate an actual throwing distance to said target throwing distance; and determining an adjusted target throwing angle for regulating an actual throwing angle from said actual throwing distance so as to compensate for a deviation from said target working width caused by a difference between said actual throwing distance and said target throwing distance.

2. The method according to claim 1, where a predetermined target throwing angle is adjusted by an angular offset for determining said adjusted target throwing angle.

3. The method according to claim 2, where said target throwing distance is calculated from a predetermined target throwing angle of 18° to 20° and said target working width.

4. The method according to claim 1, where adjacent ones of the plurality of rotational speed levels differ from each other by at least 10% of a maximum rotational speed of said spreading disc.

5. The method according to claim 2, where said target throwing distance and said predetermined target throwing angle for said target working width are determined based on spreading trials with said fertilizer.

6. The method according to claim 1, where said actual throwing distance is measured continuously by radar, and compared to said target throwing distance.

7. The method according to claim 1, where said actual throwing angle is measured continuously by radar, and compared to said target throwing angle.

8. The method according to claim 1, where regulating said actual throwing angle comprises readjusting said actual throwing angle in time intervals of at least 5 s seconds duration during distribution of said fertilizer.

9. The method according to claim 1, where said actual throwing angle is continuously adjusted based on said adjusted target throwing angle, and said plurality of rotational speed levels are changed only if a predetermined threshold criterion is met.

10. The method according to claim 9, where said threshold criterion is met if a throwing distance assigned to an adjacent one of the rotational speed levels is closer to said target throwing distance than said actual throwing distance, or if said actual throwing angle is within an allowable angle range of 18° to 25°.

11. The method according to claim 1, where an angular offset is set based on a dependence of said actual throwing distance, determined in spreading trials for various target throwing angles for said fertilizer, from said one rotational speed level of said spreading disc.

12. The method according to claim 1, where prior to distribution of said fertilizer, a calibration run of 10 to 20 seconds duration is conducted based on said target working width and using said spreading disc or updating regulation of the actual throwing angle.

13. The method according to claim 12, where said calibration run is conducted only if a value 0 has been registered at least once for said one rotational speed level of said spreading disc following a preceding calibration run, and if the spreading disc is in a spreading mode for normal subsequent runs.

Description

(1) Preferred embodiments of the invention are shown in the drawings, where

(2) FIG. 1 shows a schematic top view onto a centrifugal spreader with a spread pattern generated by the latter and characteristic parameters;

(3) FIG. 2 shows a schematic diagram with rotational speed levels;

(4) FIG. 3 shows a preferred embodiment of the method; and

(5) FIG. 4 shows a further preferred embodiment of the method.

(6) As can be seen from FIG. 1, centrifugal spreader 100 in a preferred embodiment comprises a first spreading disc 1 with an associated fertilizer feed system 1a and a second spreading disc 2 with an associated feed system 2a. Feed systems 1a, 2a comprise conventional metering devices, where at least positions PE1, PE2 of their delivery points can be adjusted by machine relative to spreading discs 1, 2. Positions PE1, PE2 are defined, for example, as a position angle relative to any auxiliary line in the direction of rotation of respective spreading disc 1, 2, possibly further as a radial distance from the axis of rotation of respective spreading disc 1.2.

(7) FIG. 1 shows feed systems 1a, 2a schematically by way of their delivery points for fertilizer. For reasons of clarity, only position PE2 of second feed system 2a is indicated by way of example by its position angle. The same relationship with respect to the direction of rotation of first spreading disc 1 applies for feed system 1a.

(8) Centrifugal spreader 100 further comprises a control unit 3 for controlling spreading discs 1, 2 and their feed systems 1a, 2a. Control unit 3 enables at least an adjustment of positions PE1, PE2 and, in particular with mechanically driven spreading discs 1, 2 also the stepwise adjustment of their rotational speeds DZ1, DZ2 to corresponding rotational speed levels DZS (see FIG. 2). With mechanically driven spreading discs 1, 2, the rotational speed levels DZS are selected, for example, in the region of a tractor 200.

(9) Schematically illustrated is also an optional inclination measuring device 4 for measuring a first slope angle NP in direction of travel FR and a second slope angle NR orthogonal to direction of travel FR.

(10) Control unit 3 with operating station 5, which is shown only by way of example in the region of a tractor 200 connected to centrifugal spreader 100, forms a control system for centrifugal spreader 100. Operating station 5 can also be arranged at centrifugal spreader 100. Operating station 5 serves to display machine parameters of centrifugal spreader 100 and to input at least one type of fertilizer DS used, a working width AB to be set for the fertilizer distribution and for selecting a rotational speed level DZS for rotational speeds DZ1, DZ2.

(11) In the usable throwing angle range of first spreading disc 1, a monitoring device 6 for measuring a throwing angle distribution is formed essentially transverse to direction of travel FR. Monitoring device 6. comprises several radar sensors 6a arranged annularly around spreading disc 1. They emit, for example, radar lobes and detect the radar beams reflected by the fertilizer particles in a known manner to calculate from this an actual value of throwing angle AWW1. In principle, other methods that monitor the thrown fertilizer particles, for example, optical or electromechanical ones, would also be conceivable for this purpose.

(12) In addition, a monitoring device 7 for measuring a throwing distance distribution of the fertilizer distribution is schematically indicated in the region of first spreading disc 1. Monitoring device 7 as well emits at least one radar lobe and detects the radar beams reflected by the fertilizer particles in a known manner to calculate from this an actual value of throwing distance WW1. Here as well, other methods which monitor the thrown fertilizer particles, for example, optical or electromechanical one, would also be conceivable.

(13) Spreading discs 1, 2 are rotated in opposite directions by tractor 200 by way of a drive coupling 8 at preferably identical rotational speeds DZ1, DZ2. Drive coupling 8 is a mechanical one by way of the power take-off shaft indicated, but can also be hydraulic or the like.

(14) Spreading discs 1, 2 are arranged axially symmetrically relative to direction of travel FR and preferably produce symmetrical spread patterns SB1, SB2 on a horizontal reference plane. This is indicated schematically in FIG. 1 merely to clarify the characteristic parameters. However, spread patterns SB1, SB2 can also be formed asymmetrically depending on the specification and/or the given topography. For appropriate adjustments of the actual values of throwing angles AWW1, AWW2 to their target values, feed systems 1a, 2a can therefore be set independently of one another.

(15) On the basis of a speed-time diagram, FIG. 2 illustrates that rotational speeds DZ1, DZ2 during operation can each be set to only one of several selectable rotational speed levels DZS. According thereto, the range of possible rotational speeds DZ1, DZ2 is divided into rotational speed levels DZS up to the maximum rotational speed DZMAX of spreading discs 2, where their spacing is predetermined in a suitable manner, and of which one is selected to drive spreading discs 1, 2.

(16) FIG. 2 shows an example of a change to the next higher rotational speed level DZS at the point in time T1. Rotational speed levels DZS can differ from each other, for example, by at least 10% of the maximum rotational speed DZMAX. Also conceivable would be increments defined in an absolutely manner of, for example, at least 100 rpm or at least 200 rpm.

(17) The respectively selected rotational speed level DZS is preferably maintained unchanged during the distribution of the fertilizer. Depending on the embodiment, an adjacent rotational speed level DZS is changed to during operation only under certain conditions, for example, with an impermissible deviation of actual throwing distance WW1 from target throwing distance WWs1 or when reaching an adjustment limit for feed systems 1a, 2a.

(18) As can be seen in FIG. 3 with respect to the method, regulating the throwing behavior in a first preferred embodiment of the invention is effected by continuously regulating the actual throwing angle AWW1 and at constant rotational speed DZ1 and therefore while maintaining associated rotational speed level DZS.

(19) Only the regulation on first spreading disc 1 shall be described hereafter as a representation of both. Second spreading disc 2 can be regulated in the same way on the basis of the data measured at and the calculation results obtained for first spreading disc 1 or in a corresponding manner by way of corresponding monitoring devices at second spreading disc 2.

(20) In detail, regulating according to FIG. 3 is based on a step 11 for continuously measuring actual throwing angle AWW1 of the distribution of fertilizer using monitoring device 6, on a step 12 for continuously measuring actual throwing distance WW1 of the distribution of fertilizer using monitoring device 7, and on a step 13 for specifying a target value for working width AB by the operator.

(21) In a step 14, a target throwing distance WWs1 is calculated from target working width AB. For example, an empirically determined conversion factor of 0.60 to 0.65 is suitable for this purpose. Target throwing distance WWs1 results, for example, from: WWs1=0.62*AB.

(22) In a step 15, an adjusted target throwing angle AWWs1 for the throwing angle regulation is calculated in step 19 from the predetermined target working width AB specified in step 13 and, matching the actual throwing distance WW1 determined in step 12, and preferably continuously updated. Depending on the desired spread profile, these values can be matched to one another on the basis of empirically obtained data and/or based on theoretical considerations.

(23) In a step 16, a rotational speed DZ1 as well suited as possible to the target throwing distance WWs1 calculated in step 14 is set in step 16. This rotational speed is set by specifying a target throwing distance WWs1 in step 14 and taking into account within a control loop the actual throwing distance measured in step 12 and depending on the particular fertilizer used. The rotational speed can be set only in discrete steps and the rotational speed is adjusted in step 16 such that a rotational speed level DZ1 is set which leads to an actual throwing distance WW1 that comes closest to desired throwing distance WWs1 or is preferably just therebelow. It is also conceivable that for the initial setting of the spreader at the beginning of work or when changing the target value specification for the throwing distance, an empirically determined and stored rotational speed level is first set to closest to the desired throwing distance in a first step. Rotational speed level DZS with an actual throwing distance WW1 disposed as close below target throwing distance WWs1 as possible is particularly suitable for compensatory enlargement of target throwing angle AWWs1 based on triangular spread profiles, see below.

(24) In a step 19, a control variable RGa for the throwing angle regulation is calculated, for example, by subtraction, from the target throwing angle AAWs0 and the actual throwing angle AWW1 measured.

(25) Taking into account a known control system behavior 21 of feed system 1a, a controller in a step 20 determines a control variable SGa for the throwing angle regulation for feed system 1a of first spreading disc 1, for example, in the form of a change ΔPE1 for position PE1.

(26) In a step 22, position PE1 is changed in accordance with rotational speed DZ1, whereby actual throwing angle AWW1 is readjusted.

(27) By re-executing step 11, i.e., measuring readjusted actual throwing angle AWW1, the control loop of the throwing angle regulation is closed and can be passed through again for the continuous monitoring of spread pattern SB1.

(28) In a step 18, rotational speed DZ1 causes an actual throwing distance WW1 which is measured continuously in step 12.

(29) As can also be seen from FIG. 4 with regard to the method, regulating the throwing behavior in a second preferred embodiment differs from the regulation according to FIG. 3 by the steps described below.

(30) According thereto, target working width AB, target throwing distance WWs1, and predetermined target throwing angle AWWs0 are determined by the operator in steps 23, 24, 25 on the basis of measured data from standardized spreading trials 31. In this case, it is advantageous to first optimize predetermined target throwing angle AWWs0 in favor of a triangular-shaped spread profile for subsequent runs, for example, to values of 18 to 20°, and to adapt target throwing distance WWs1 for desired working width AB thereto.

(31) Spreading trials 31 are performed at different rotational speeds DZ1 at a rotational speed incrementation, which is finer than the incrementation of the selectable rotational speed levels DZS. By interpolation of the throwing distances thus measured in spreading trial 31, the individual rotational speed levels DZS can then each be assigned a throwing distance in a simple and precise manner, for example, to pre-set a suitable DZS at the beginning of the work. The actual setting of the DZS during the work then takes place in a regulated manner by way of determining throwing distance WW1 in step 12.

(32) Step 26 substantially corresponds to step 16. Here as well, it is provided that a change of rotational speed level DZS and thereby of rotational speed DZ1 is allowed during the fertilizer distribution, provided a criterion predetermined for this is met. This can be, for example, a deviation of measured actual throwing distance WW1 from target throwing distance WWs1 beyond a certain degree. This would also be conceivable at the end of a reasonable adjustment range for feed system 1a.

(33) By changing rotational speed level DZS, it is possible to prevent a compensatory angular offset ΔAWW to be calculated in step 17 from parting from a practicable and/or advantageous working range. This would be the case, for example, if the spread profile would assume an undesirable trapezoidal shape without rotational speed level DZS changing.

(34) However, a change in rotational speed level DZS is subordinate and/or is not carried out continuously, in contrast to the continuous readjustment of actual throwing angle AWW1.

(35) A necessary change of rotational speed level DZS can be indicated by an alarm, in particular, when spreading discs 2 are driven mechanically. The change of rotational speed DZ1 can then be initiated by the operator by activating an adjacent rotational speed level DZS. In step 17, a compensatory angular offset ΔAWW is determined for respectively determined actual throwing distance WW1 and desired throwing distance WWs1. A target value AB for the working width from step 23 determined by way of spreading trials can be used for this purpose and in addition to the target throwing distance or alternatively.

(36) Corresponding to step 15, step 28 outputs a target throwing angle AWWs1, where a compensatory angular offset ΔAWW is there possibly taken into account instead of actual throwing distance WW1. In other words, in the embodiment according to FIG. 4, a target throwing angle AWWs0 determined by way of spreading trials is specified and it is possibly adapted to current actual throwing distance WW1 by a compensatory angular offset ΔAWW specified in step 17. In addition, FIGS. 3 and 4 indicate a step 41 for conducting an initial calibration run which has a duration, for example, of 15 seconds and is used to initialize the regulation with spreading disc 2 used and the type of fertilizer DS used. Thereafter, the regular work operation can be started. Regulating behavior that is correct and stable from the outset can thus be obtained.

(37) With mechanically driven spreading discs 2, rotational speed DZ1 is set in that the operator is displayed suitable rotational speed levels DZS and, in particular, the most suitable rotational speed level DZS is proposed. Basically, this procedure is also conceivable for other drive systems for spreading discs 2.

(38) The control loop system behavior for changing actual throwing distance WW1 in dependence of rotational speed DZ1 and actual throwing angle AWW1 in dependence of position PE1 of feed system 1a is respectively known in principle and therefore not explained in detail in this context.

(39) Steps 13 to 15 and 23 to 25, steps 16 and 26 and steps 15 and 28 can in principle be combined with one another independently of the embodiments described by way of example with reference to FIGS. 3 and 4.

(40) The method described can be carried out, for example, with control unit 3 and operating station 5.