RESUMEN
Bale density is one of the main performance indicators to measure the quality of baler operation. In this study, a real-time baler bale density monitoring system was designed for the problem of difficult real-time measurement of bale density on round balers. Firstly, a weighing calculation model for the rolling and sliding stage of the bale was established, and the dynamic characteristics during the contact between the bale and the inclined surface were analyzed based on ADAMS dynamics simulation. Then, a real-time monitoring system for the bale density based on the contact pressure of the inclined surface, attitude angle measurement and hydraulic monitoring of the cylinder was constructed, and the accuracy of the weighing model was confirmed. The system was used to observe and analyze the changes in the pitch angle of the carrier table and the oil pressure in the rod chamber of the backpack cylinder during the operation of the round baler. Finally, the monitoring system was calibrated and the dynamic calibration equations were obtained. The results show that the maximum error between the calculated value of the original weighing model and the actual weight was 3.63%, the maximum error of the calculated value of the weighing model corrected by the calibration equations was 3.40% and the measurement accuracy could be satisfied. The results show that the system was highly accurate and met the practical needs of bale weighing in the field.