Models and Algorithms of Adaptive Animal Flow Control in Rotary Milking Parlors

Abstract

The study addresses the influence of milking duration of individual cows on the performance of conveyor-like rotary milking parlors and seeks to optimize their operation parameters and operating modes. The observational experiment was conducted in the Zhdanovsky Farm in Nizhny Novgorod Region, Russia. The dairy farm had a herd of 600 cows, divided into 10 groups by physiological characters and milk yield, and operated a 36 point milking parlor. Distribution of milking time of individual cows was studied using statistical analysis methods. The cyclogram of parlor operation and the functional connection of main parameters were analyzed using Maple analytical computing system, including its standard libraries and functions. The trends in idle time, which occurs due to undermilking of animals in one turn of the parlor, were studied. The idle time can result in overestimation of the number of stalls or decrease in the nameplate performance of the milking parlor by 30–40% from 120 to 93 cows per hour. Mathematical models, taking into account the influence of the milking time of individual animals (2 to 17 minutes) on the parameters of parlor operation, were developed. The algorithms of adaptive control over the rotational speed were proposed to minimize idle time in parlor operation and maintain the nameplate performance. The mathematical models, control algorithms and developed software can serves as a scientific basis for new designs of high-performance rotary milking parlors.