摘要
为解决大豆玉米带状复合播种机多采用地轮驱动导致株距均匀性低和现有电驱播种机大多无法同时播种两种作物种子的问题,设计一种基于模糊PID的玉豆带状复合适速排种控制系统。该系统主要由STM32主控制器、GPS/BD测速模块、人机交互设备和驱动单体组成,采用CAN总线分布式控制各播种单体排种器转速,建立电机驱动信号与作业参数的数学模型,引入模糊PID算法并将转速差值作为反馈构建闭环控制系统,分别使大豆排种器和玉米排种器的转速快速准确地跟随播种机行进速度变化。台架试验表明,恒速作业状态下转速变异系数小于8.50%,株距变异系数均小于10.00%;动态调速过程中转速跟随性好,株距变异系数小于15.00%;引入模糊PID算法后,大豆株距合格指数大于92.00%,玉米株距合格指数大于94.00%,较无PID算法大豆株距合格指数提高2.03%,玉米株距合格指数提高1.59%。田间验证试验表明,电驱作业方式大豆株距合格指数均大于91.00%,较地轮驱动作业方式提高1.80%;玉米株距合格指数均大于93.00%,较地轮驱动作业方式提高1.68%。综上,本研究电驱排种控制系统解决了电驱无法同时播种两种作物种子的问题,并提高了排种性能。
To solve the problem of poor uniformity of plant spacing caused using ground wheel drive in soybean and corn strip composite seeders and the inability of existing electric drive seeders to simultaneously sow two types of crop seeds,soybean and corn belt composite speed adaptive seeding control system was designed based on fuzzy PID.The system mainly consisted of an STM32 main controller,GPS/BD speed measurement module,human-machine interaction equipment,and driving units.The CAN bus distributed control method was used to complete the command transmission between the main controller and various seeding units.A mathematical model of the motor drive signal and operation parameters was established,and the fuzzy PID algorithm was introduced to construct a closed-loop control system by using the speed difference as feedback and make the rotation speed of the soybean seeder and the corn seeder quickly and accurately follow the forward velocity changes of the seeder.The bench test showed that under constant speed operation,the coefficient of variation of rotational speed was less than 8.50%,and the coefficient of variation of plant spacing was less than 10.00%.During the dynamic speed control process,the speed tracking is good,and the coefficient of variation of plant spacing was less than 15.00%.After the introduction of the fuzzy PID algorithm,the qualified index of soybean plant spacing was greater than 92.00%,and the qualified index of corn plant spacing was greater than 94.00%.Compared with the absence of the algorithm,the qualified index of soybean plant spacing was increased by 2.03%,and the qualified index of corn plant spacing was increased by 1.59%.Field validation experiments showed that the qualified index of soybean plant spacing under motor drive was greater than 91.00%,which was 1.80%higher than that underground wheel drive operation.The qualified index of corn plant spacing was greater than 93.00%,which was 1.68%higher than that of corn plant spacing underground wheel drive operation.Therefore,this contro
作者
张兆睿
黄玉祥
贾宪
赵宏波
高筱钧
张崇勤
ZHANG Zhaorui;HUANG Yuxiang;JIA Xian;ZHAO Hongbo;GAO Xiaojun;ZHANG Chongqin(College of Mechanical and Electronic Engineering,Northwest A&F University,Yangling,Shaanxi 712100,China;Shaanxi Engineering Research Center for Agricultural Equipment,Yangling,Shaanxi 712100,China;Weichai Lovol Intelligent Agricultural Technology Co.Ltd,Weifang,Shandong 261200,China)
出处
《干旱地区农业研究》
CSCD
北大核心
2024年第4期286-297,共12页
Agricultural Research in the Arid Areas
基金
国家重点研发计划项目(2021YFD2000405-5)
国家自然科学基金(32372009)
陕西省博士后科研项目(2023BSHEDZZ149)。
