Authors

Abstract

To achieve precise seeding and fertilization operations for wheat and improve the intelligent level of wheat shallow buried drip irrigation and wide-width precision seeder, this article proposes a fusion speed measurement method by integrating ground encoder and satellite positioning module, and designs a control system of electric-drive wheat shallow-buried drip irrigation and wide-width precision seeder. The system includes STM32 main controller, DC servo motor, servo motor reducer, wheel encoder, vehicle navigation positioning module, vehicle control terminal, attitude sensor, voltage conversion module, etc. Based on the VisualTFT platform and equipped with a multi-functional touch screen, by designing the overall functions of terminal including obtaining speed from ground wheel encoder, obtaining speed from vehicle navigation positioning module, automatic switching of seeding mode speed source, motor speed control model, and remote transmission of positioning information, the system achieves the precise seeding and fertilization by adjusting the seeding/fertilization speed according to the forward speed of the tractor. The experimental study investigated the working performance of the control system of electric-drive wheat shallow-buried drip irrigation and wide-width precision seeder. Calibration test results showee that the speed accuracy of the ground wheel encoder was above 97.00%, The average seeding rate and fertilizer application rate were 22.4g/r and 157.4g/r, the standard deviations were 1.1 and 3.3, respectively. Field trial results showed that the seeding rate control error ranged from 3.0% to 5.3%, and the fertilization amount control error ranged from 3.0% to 6.0%. It meets the requirements for precise seeding and fertilization operations of shallow-buried drip irrigation and wide-width precision wheat seeder.

Abstract in Chinese

为实现小麦精量播种施肥作业过程，提高小麦浅埋滴灌-宽幅匀播机智能化水平，提出地轮编码器和卫星定位模块融合测速方法，设计了电驱式小麦浅埋滴灌-宽幅匀播机控制系统，包括STM32主控器、直流伺服电机、伺服电机减速器、地轮编码器、车载导航定位模块、车载控制终端、姿态传感器、变压模块等部分。基于VisualTFT平台，搭载多功能触模屏，通过对地轮编码器速度获取、车载导航定位模块速度获取、播种模式速度源自动切换、电机调速控制模型、定位信息远程传输等终端功能整体设计，实现了随拖拉机前进速度调整排种/肥转速，达到精量播种施肥的目的。试验研究了电驱式小麦浅埋滴灌-宽幅匀播机控制系统工作性能，标定试验结果表明：地轮编码器测速精度都在97.00%以上，平均排种/肥量分别为22.4 g/r、和157.4 g/r，标准差分别为1.1和3.3；田间试验结果表明：播量控制误差范围为3.0%~5.3%，施肥量控制误差范围为3.0%~6.0%，符合实际小麦浅埋滴灌-宽幅匀播机精量播种施肥作业要求。