The main idea of this paper is to present a programmable logic controller (PLC) based data acquisition, telemetry, and control system for self-propelled pruning residue mulcher prototype. The main power source of the mulcher prototype is the diesel engine. Hydraulic systems were used to transmit the motion received from the motor to the wheels, pick up and mulching unit, and steering systems. The operation and control of all systems were carried out using a PLC-based electromechanical system. The objective of this paper is to develop a PLC-based measuring and controlling system in order to control, collect, and monitor the sensor-based data such as: number of cycles of the fingers in the pick-up unit, the speed of the mulcher blades, machine forward speed, fuel consumption, and pump pressures. In the system, an embedded industrial computer and differential global positioning system (DGPS) were used to assist in real-time measuring, recording, controlling, and displaying all the sensor data during the field operation. The control of the machine is built using industry-standard off-the-shelf PLCs. The data acquisition software was written using VB.NET programming language. The PLC-based sensor and instrumentation system was tested and validated on different orchards. Test results show that the developed control and data acquisition system is well qualified with high control precision and high reaction speed. The developed machine is the first self-propelled agricultural mulcher machine developed in Turkey. And there is no other example in the world in terms of using PLC-based control and data acquisition system in self-propelled pruning residue mulchers.

本文的主要思想是提出一种基于可编程逻辑控制器 (PLC) 的数据采集、遥测和控制系统，用于自走式修剪残渣覆盖机原型。mulcher 原型机的主要动力源是柴油机。液压系统用于将从电机接收到的运动传输到车轮、拾取和覆盖装置以及转向系统。所有系统的操作和控制均使用基于 PLC 的机电系统进行。本文的目的是开发一个基于 PLC 的测量和控制系统，以控制、收集和监测基于传感器的数据，例如：拾取单元中手指的循环次数、 mulcher 刀片、机器前进速度、燃料消耗和泵压力。在系统中，使用嵌入式工业计算机和差分全球定位系统（DGPS），在现场操作期间协助实时测量、记录、控制和显示所有传感器数据。机器的控制是使用行业标准的现成 PLC 构建的。数据采集​​软件采用VB.NET编程语言编写。基于PLC的传感器和仪器系统已在不同的果园中进行了测试和验证。测试结果表明，所开发的控制和数据采集系统性能良好，控制精度高，反应速度快。开发的机器是土耳其开发的第一台自走式农用覆土机。