基于电子控制单元的大豆液肥施肥机变量施控系统
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摘要
针对我国农业生产中肥料利用率相对较低的现状,以实现减肥增效为目标,设计基于电子控制单元(electroniccontrol unit,ECU)的大豆液肥施肥机精确变量施控系统。该系统包括电子控制单元ECU、信号采集系统和变量施肥系统,以Raspberry Pi微型计算机作为电子控制单元,采用北斗+GPS双重定位技术。系统依据作业区域内处方施肥数据、作业机具行进速度等信息,并通过实时监测施肥量数据和作业状态数据,建立闭环反馈环节;依据变量施控系统的作业流程,生成施控指令,向基于压力调节阀的液肥施肥系统下达作业指令,施肥装置根据作业指令调整压力调节阀的开度,实现液肥按需变量施入的目的。结果表明:基于ECU的施控系统,各组成部分工作状态稳定可靠,工作流程设计合理,响应速度快,系统从开启到施入流速稳定所需时间一般在7 s以内,试验台和田间试验的施肥精度不低于97. 3%,各喷药口实际流速的平均差较小,均分器效果显著。该变量施控系统可行性强,能满足变量施肥作业精度需求,适合当前农业生产中的农艺需求,为我国农业精确生产和实现减肥增效提供一种实现手段。
Fertilization is an important process of agricultural production,which directly affects the yield of crops,and reason-able and effective use of chemical fertilizer can not only improve the yield of crops,but also reduce water and soil contamina-tion. At present,the mechanization level of fertilization according to needs is very low in China,and the utilization rate of fer-tilizer has to be raised up. Variable rate fertilization(VRF) for crop is an effective way to outperform uniform rate fertilization(URF). A control and fertilization system of fertilizer applicator based on electronic control unit(ECU) was designed and ex-perimented in this paper. It included ECU as the control system,signal collection system and fertilization system. ECU usedthe Raspberry Pi microcomputer to improve the response and steady performance of system. Bei Dou/GPS dual-mode point po-sitioning module was applied in the system to insure the positioning and velocity measurement of applicator and query accuracyof prescription map. ECU was responsible for collecting the signals of theoretical fertilization data from prescription map,theapplicator speed,the input rate of fertilization measured and operation state data,and for generating fertilization instructionsfor fertilization system. The fertilization mechanism adjusted the openness of the pressure valve to response these instructionsfrom ECU. This work flow fulfilled VRF based on the agronomic requirements and quantitatively. The experiment data showedthat the control and fertilization system based on ECU could provide a reasonable and real-time control of every component. Itgenerally took no more than 7 s from system open to steady flow. The fertilization precision were more than 97. 3% both in ex-perimental bench test and field test. The mean difference of flow rate of every fertilization sprayer was low that benefited fromliquid separating and sharing device. The control and fertilization system was feasible and can meet the requirement of variablefertilization precision,and it was suitable for agricultural production in current agricultural production,and provided a meansfor agricultural precision production and reducing fertilization while increasing efficiency in agriculture in our country.
Fertilization is an important process of agricultural production,which directly affects the yield of crops,and reason-able and effective use of chemical fertilizer can not only improve the yield of crops,but also reduce water and soil contamina-tion. At present,the mechanization level of fertilization according to needs is very low in China,and the utilization rate of fer-tilizer has to be raised up. Variable rate fertilization(VRF) for crop is an effective way to outperform uniform rate fertilization(URF). A control and fertilization system of fertilizer applicator based on electronic control unit(ECU) was designed and ex-perimented in this paper. It included ECU as the control system,signal collection system and fertilization system. ECU usedthe Raspberry Pi microcomputer to improve the response and steady performance of system. Bei Dou/GPS dual-mode point po-sitioning module was applied in the system to insure the positioning and velocity measurement of applicator and query accuracyof prescription map. ECU was responsible for collecting the signals of theoretical fertilization data from prescription map,theapplicator speed,the input rate of fertilization measured and operation state data,and for generating fertilization instructionsfor fertilization system. The fertilization mechanism adjusted the openness of the pressure valve to response these instructionsfrom ECU. This work flow fulfilled VRF based on the agronomic requirements and quantitatively. The experiment data showedthat the control and fertilization system based on ECU could provide a reasonable and real-time control of every component. Itgenerally took no more than 7 s from system open to steady flow. The fertilization precision were more than 97. 3% both in ex-perimental bench test and field test. The mean difference of flow rate of every fertilization sprayer was low that benefited fromliquid separating and sharing device. The control and fertilization system was feasible and can meet the requirement of variablefertilization precision,and it was suitable for agricultural production in current agricultural production,and provided a meansfor agricultural precision production and reducing fertilization while increasing efficiency in agriculture in our country.
引文
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[11]刘碧贞,黄华,祝诗平,等.基于北斗/GPS的谷物收割机作业综合管理系统[J].农业工程学报,2015,31(10):204-210.(Liu B Z,Huang H,Zhu S P,et al. Integrated managementsystem of grain combine harvester based on Beidou&GPS[J].Transactions of the Chinese Society of Agricultural Engineering,2015,31(10):204-210.)
[12] Zhang J C,Hou S Y,Wang R T,et al. Design of variable-rateliquid fertilization control system and its stability analysis[J]. In-ternational Journal of Agricultural&Biological Engineering,2018,11(1):109-114.
[13]杨柳,罗婷婷,程新荣,等.基于Raspberry Pi的拖拉机通用自动驾驶系统[J].农业工程学报,2015,31(21):109-115.(Yang L,Luo T T,Cheng X R,et al. Universal autopilot systemof tractor based on Raspberry Pi[J]. Transactions of the ChineseSociety of Agricultural Engineering,2015,31(21):109-115.)
[14]刘兴科,张之孔.“北斗一号”车辆监控管理系统的设计[J].测绘与空间地理信息,2012(6):26-29.(Liu X K,Zhang Z K.Design of vehicle supervision and management system according to‘Beidou I’[J]. Geomatics&Spatial Information Technology,2012(6):26-29.)
[15]张继成,王丹,郑萍,等.用电动调压阀控制的液肥变量施肥系统,CN201310266071. 1[P]. 2013.(Zhang J C,Wang D,Zheng P,et al. Liquid fertilizer variable rate fertilization system u-sing electronic pressure valve. CN 201310266071. 1[P]. 2013.)
[16]张英姿.基于处方图的变量施液态肥控制系统关键技术研究[D].哈尔滨:东北农业大学,2015.(Zhang Y Z. Key tech-nology study on the variable-rate fertilizer control system based onprescription[D]. Harbin:Northeast Agricultural University,2013.)
[17]张继成.基于处方图的变量施肥系统关键技术研究[D].哈尔滨:东北农业大学,2013.(Zhang J C. Research on the keytechnology of variable rate fertilization system based on prescriptionmap[D]. Northeast Agricultural University,2013.)
[18]陈树人,段建,姚勇,等.环模式成型机压缩水稻秆成型工艺参数优化[J].农业工程学报,2013,29(22):32-41.(Chen SR,Duan J,Yao Y,et al. Optimization of technique parameters ofannular mould briquetting machine for straw briquette compressing[J]. Transactions of the Chinese Society of Agricultural Engineer-ing,2013,29(22):32-41.)
[2]罗锡文,廖娟,邹湘军,等.信息技术提升农业机械化水平[J].农业工程学报,2016,32(20):1-14.(Luo X W,Liao J,Zou X J,et al. Enhancing agricultural mechanization level throughinformation technology[J]. Transactions of the Chinese Society ofAgricultural Engineering,2016,32(20):1-14.)
[3]金鑫,李倩文,苑严伟,等. 2BFJ-24型精量播种变量施肥机设计与试验[J].农业机械学报,2018,49(5):84-92.(Jin X,Li Q W,Yuan Y W,et al. Design and test of 2BFJ-24 type varia-ble fertilizer and precision seed sowing machine[J]. Transactionof the Chinese Society for Agricultural Machinery,2018,49(5):84-92.)
[4]施印炎,陈满,汪小旵,等.稻麦精准变量施肥机排肥性能分析与试验[J].农业机械学报,2017,48(7):97-103.(Shi Y Y,Chen M,Wang X C,et al. Analysis and experiment of fertilizingperformance for precision fertilizer applicator in rice and wheatfields[J]. Transactions of the Chinese Society for Agricultural Ma-chinery,2017,48(7):97-103.)
[5]伟利国,张小超,苑严伟,等. 2F-6-BP1型变量配肥施肥机的研制与试验[J].农业工程学报,2012,28(7):14-18.(Wei LG,Zhang X C,Yuan Y W,et al. Design and experimen t of 2F-6-BP1 variable rate assorted fertilizer applicator[J]. Transactionsof the Chinese Society of Agricultural Engineering,2012,28(7):14-18.)
[6]王秀,赵春江,孟志军,等.精准变量施肥机的研制与试验[J].农业工程学报,2004,20(5):114-117.(Wang X,ZhaoC J,Meng Z J,et al. Design and experiment of variable rate fer-tilizer applicator[J]. Transactions of the Chinese Society of Agri-cultural Engineering,2004,20(5):114-117.)
[7]王金武,潘振伟,周文琪,等. SYJ-2型液肥变量施肥机设计与试验[J].农业机械学报,2015,46(7):53-58.(Wang J W,Pan Z W,Zhou W Q,et al. Design and test of SYJ-2 Type liquidvariable fertilizer[J]. Transactions of the Chinese Society for Agri-cultural Machinery,2015,46(7):53-58.)
[8]孟志军,赵春江,刘卉,等.基于处方图的变量施肥作业系统设计与实现[J].江苏大学学报(自然科学版),2009,30(4):338-342.(Meng Z J,Zhao C J,Liu H,et al. Development andperformance assessment of map-based variable rate granule appli-cation system[J]. Journal of Jiangsu university(Natural ScienceEdition),2009,30(4):338-342.)
[9]侯顺艳,王秀,薛绪掌,等.土壤精准管理变量施肥地理信息系统的应用研究[J].河北大学学报(自然科学版),2003,23(2):193-197.(Hou S Y,Wang X,Xue X Z,et al. Develop-ment of GIS application system for variable rate fertilization in soilprecise management[J]. Journal of Hebei University(NaturalScience Edition),2003,23(2):193-197.)
[10]梁春英,衣淑娟.液体肥变量施用控制系统性能的试验研究[J].农机化研究,2010,32(8):117-120.(Liang C J,Yi S J.Study of variable rate liquid fertilizer applicator control systembased on fuzzy pid controller[J]. Journal of Agricultural Mechani-zation Research,2010,32(8):117-120.)
[11]刘碧贞,黄华,祝诗平,等.基于北斗/GPS的谷物收割机作业综合管理系统[J].农业工程学报,2015,31(10):204-210.(Liu B Z,Huang H,Zhu S P,et al. Integrated managementsystem of grain combine harvester based on Beidou&GPS[J].Transactions of the Chinese Society of Agricultural Engineering,2015,31(10):204-210.)
[12] Zhang J C,Hou S Y,Wang R T,et al. Design of variable-rateliquid fertilization control system and its stability analysis[J]. In-ternational Journal of Agricultural&Biological Engineering,2018,11(1):109-114.
[13]杨柳,罗婷婷,程新荣,等.基于Raspberry Pi的拖拉机通用自动驾驶系统[J].农业工程学报,2015,31(21):109-115.(Yang L,Luo T T,Cheng X R,et al. Universal autopilot systemof tractor based on Raspberry Pi[J]. Transactions of the ChineseSociety of Agricultural Engineering,2015,31(21):109-115.)
[14]刘兴科,张之孔.“北斗一号”车辆监控管理系统的设计[J].测绘与空间地理信息,2012(6):26-29.(Liu X K,Zhang Z K.Design of vehicle supervision and management system according to‘Beidou I’[J]. Geomatics&Spatial Information Technology,2012(6):26-29.)
[15]张继成,王丹,郑萍,等.用电动调压阀控制的液肥变量施肥系统,CN201310266071. 1[P]. 2013.(Zhang J C,Wang D,Zheng P,et al. Liquid fertilizer variable rate fertilization system u-sing electronic pressure valve. CN 201310266071. 1[P]. 2013.)
[16]张英姿.基于处方图的变量施液态肥控制系统关键技术研究[D].哈尔滨:东北农业大学,2015.(Zhang Y Z. Key tech-nology study on the variable-rate fertilizer control system based onprescription[D]. Harbin:Northeast Agricultural University,2013.)
[17]张继成.基于处方图的变量施肥系统关键技术研究[D].哈尔滨:东北农业大学,2013.(Zhang J C. Research on the keytechnology of variable rate fertilization system based on prescriptionmap[D]. Northeast Agricultural University,2013.)
[18]陈树人,段建,姚勇,等.环模式成型机压缩水稻秆成型工艺参数优化[J].农业工程学报,2013,29(22):32-41.(Chen SR,Duan J,Yao Y,et al. Optimization of technique parameters ofannular mould briquetting machine for straw briquette compressing[J]. Transactions of the Chinese Society of Agricultural Engineer-ing,2013,29(22):32-41.)