Authors

Abstract

Aiming at the problem that the existing planters cannot accurately maintain the seeding spacing and row spacing in the field, the high-speed photography technology is used to analyze the seeding trajectory, so as to determine the key factors affecting the seeding position. First, a dynamic compensation system for maize seeding position based on fuzzy PID control was designed. In the dynamic compensation system, the biaxial angle sensor was used to detect the angle of seeding monomer, and the space rotation theory was used to calculate the offset of the seeding position. Then, the dynamic compensation of seeding position was completed by the fuzzy PID control servo electric push rod, and the response time of fuzzy PID control system was 0.035 s. When the seed spacing of maize was 30 cm, the conveyor speed was 1.67 m/s and the seed tray speed was 30 r/min. Finally, the bench test was carried out under the conditions of random disturbance signal, sinusoidal wave disturbance signal and random disturbance signal plus sinusoidal wave disturbance signal. The results showed that compared without dynamic compensation, the variation coefficient of the longitudinal grain spacing and the transverse grain spacing decreased by an average of 6.94 % and 9.16 %, respectively. In this way, this study can provide a reference for improving the stability of seeding row spacing and plant spacing.

Abstract in Chinese

针对现有播种机田间作业时无法精确保持播种株距和行距的问题，通过高速摄影技术对落种轨迹进行分析，确定了影响播种位置的关键因素，设计了基于模糊PID控制的玉米播种位置动态补偿系统。动态补偿系统主要包括六自由度平台、播种单体、动态补偿机构、双轴倾角传感器和工控机组成。它采用双轴倾角传感器检测播种单体的倾角变化，通过空间旋转理论计算播种位置的偏移量，然后通过模糊PID控制伺服电动推杆完成播种位置动态补偿，模糊PID控制系统的响应时间为0.035 s。当玉米播种粒距为30 cm、传送带速度1.67 m/s、排种盘转速30 r/min时，在随机扰动信号、正弦波扰动信号和随机扰动信号加正弦波扰动信号情况下进行台架试验。试验结果表明：与未使用动态补偿功能相比，使用动态补偿功能时的纵向粒距变异系数平均降低了6.94 %，横向粒距变异系数平均降低9.16 %，实现播种位置动态补偿。该研究为提高播种行距和株距的质量提供了借鉴。