免耕播种机漏播补偿系统设计与试验
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摘要
针对免耕播种机作业时存在漏播问题,设计了一种漏播自动补偿系统,建立了补偿装置驱动的数学模型,应用滑模变结构控制算法设计了补偿系统控制器,并对补偿系统的动态响应性能进行了仿真分析。通过补种控制算法,确定了补种机构与主排种器的距离S和离地高度H,得到了补种排种盘转速n和播种机行进速度v_m、粒距L_l之间的关系曲线,对排种器安装高度H、粒距L_l、传送带速度v_m进行了二次回归正交试验,验证了漏播补偿系统的补种性能。台架试验的最佳工况组合为,补种排种器安装高度15.33 cm、粒距25.16 cm、传送带速度3.52 km/h时,补种成功率可达96.5%。田间试验表明,安装漏播补偿系统后,免耕播种机播种合格率均值为98.72%,有效提高了播种质量。
An adaptive miss-seeding reseed device of no-tillage planter was developed to solve missseeding problems when working,and the mathematical model of the reseed device driver was established to implement the simulation analysis on the dynamic response performance of the compensation system device. Through the reseeding control algorithm,the distance( S) of reseeding device to main seedmetering device and the height( H) of seed-metering device to ground were determined and the relationship curves among reseed-metering plate speed( n),the seeding machine moving speed( v_m) and the seed distance( L_l) were achieved,which further achieved the self-adaption performance of the reseeding machine. The bench test results on reseeding detection accuracy showed that the miss-seeding detection accuracy was 93. 23%,the rate of reseeding of the system was 95. 11%,the actual reseeding rate of reseeding was 91. 95%,the detection error rate was 3. 16%,the reseeding success rate of the system was 96. 38%,the actual reseeding success rate was 89. 89%,and the detection error rate was6. 49%. The tests of quadratic orthogonal regression on the height( H) of seed-metering device to ground,the seed distance( L_l) and the seeding machine moving speed( v_m) showed that the performance of the reseeding device was the best with the height( H) of seed-metering device to ground of 15. 33 cm,the seed distance( L_l) of 25. 16 cm and the seeding machine moving speed( v_m) of 3. 52 km/h,and the reseeding success rate was 96. 5%. The field test results on reseeding performance showed that the average seeding qualification rate was 98. 72%,which had an increase of 4. 56% at speed of 3 km/h to6 km/h. The research effectively improved the seeding quality and also provided reference for further study on seeding performance improvement of no-tillage planter as well as the promotion of agriculture mechanization level with information technology.
An adaptive miss-seeding reseed device of no-tillage planter was developed to solve missseeding problems when working,and the mathematical model of the reseed device driver was established to implement the simulation analysis on the dynamic response performance of the compensation system device. Through the reseeding control algorithm,the distance( S) of reseeding device to main seedmetering device and the height( H) of seed-metering device to ground were determined and the relationship curves among reseed-metering plate speed( n),the seeding machine moving speed( v_m) and the seed distance( L_l) were achieved,which further achieved the self-adaption performance of the reseeding machine. The bench test results on reseeding detection accuracy showed that the miss-seeding detection accuracy was 93. 23%,the rate of reseeding of the system was 95. 11%,the actual reseeding rate of reseeding was 91. 95%,the detection error rate was 3. 16%,the reseeding success rate of the system was 96. 38%,the actual reseeding success rate was 89. 89%,and the detection error rate was6. 49%. The tests of quadratic orthogonal regression on the height( H) of seed-metering device to ground,the seed distance( L_l) and the seeding machine moving speed( v_m) showed that the performance of the reseeding device was the best with the height( H) of seed-metering device to ground of 15. 33 cm,the seed distance( L_l) of 25. 16 cm and the seeding machine moving speed( v_m) of 3. 52 km/h,and the reseeding success rate was 96. 5%. The field test results on reseeding performance showed that the average seeding qualification rate was 98. 72%,which had an increase of 4. 56% at speed of 3 km/h to6 km/h. The research effectively improved the seeding quality and also provided reference for further study on seeding performance improvement of no-tillage planter as well as the promotion of agriculture mechanization level with information technology.
引文
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22黄东岩,朱龙图,贾洪雷,等.基于GPS和GPRS的远程玉米排种质量监测系统[J].农业工程学报,2016,32(6):162-168.HUANG Dongyan,ZHU Longtu,JIA Honglei,et al.Remote monitoring system for corn seeding quality based on GPS and GPRS[J].Transactions of the CSAE,2016,32(6):162-168.(in Chinese)
23 MCDONALD T P,FULTON J P,DARR M J,et al.Evaluation of a system to spatially monitor hand planting of pine seedlings[J].Computers and Electronics in Agriculture,2008,64:173-182.
24 ZHAO Zhan,WU Yafang,YIN Jianjun,et al.Monitoring method of rice seeds mass in vibrating tray for vacuum-panel precision seeder[J].Computers and Electronics in Agriculture,2015,114:25-31.
25 LOWTHE-THOMAS F M,SLATER S C,RANDERSON P F.Reducing the establishment costs of short rotation willow coppice(SRC)-a trial of a novel layflat planting system at an upland site in mid-Wales[J].Biomass and Bioenergy,2010,34(5):677-686.
26 ARZU Y,ADNAN D.Optimisation of the seed spacing uniformity performance of a vacuum-type precision seeder using response surface methodology[J].Biosystems Engineering,2007,97:347-356.
27 YI Shujuan,LIU Yongfen,WANG Chun,et al.Experimental study on the performance of bowl-tray rice precision seeder[J].International Journal of Agricultural and Biological Engineering,2014,7(1):17-25.
28向阳,谢方平,汤楚宙,等.输送带铺砂型排种器试验台的研制[J].农业工程学报,2009,25(6):136-140.XIANG Yang,XIE Fangping,TANG Chuzhou,et al.Development of the seed-metering test bench with sand-paving conveyor belt[J].Transactions of the CSAE,2009,25(6):136-140.(in Chinese)
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2高焕文,何明,尚书旗,等.保护性耕作高产高效体系[J/OL].农业机械学报,2013,44(6):35-38,49.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=20130607&flag=1.DOI:10.6041/j.issn.1000-1298.2013.06.007.GAO Huanwen,HE Ming,SHANG Shuqi,et al.High yield and benefit system for conservation tillage[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2013,44(6):35-38,49.(in Chinese)
3金衡模,高焕文.玉米精播机漏播补偿系统设计[J].农业机械学报,2002,33(5):44-47.KIM Hyungmo,GAO Huanwen.Design of a microcomputer-controlled loss sowing compensation system for a maize precision drill[J].Transactions of the Chinese Society for Agricultural Machinery,2002,33(5):44-47.(in Chinese)
4张平华.基于虚拟仪器的精密排种器漏播检测及补偿技术研究[D].武汉:华中农业大学,2006.ZHANG Pinghua.Study on precise seed-meter of loss testing and compensation technique based on virtual instrument[D].Wuhan:Huazhong Agricultural University,2006.(in Chinese)
5朱瑞祥,葛世强,翟长远,等.大籽粒作物漏播自补种装置设计与试验[J].农业工程学报,2014,30(21):1-8.ZHU Ruixiang,GE Shiqiang,ZHAI Changyuan,et al.Design and experiment of automatic reseeding device for miss-seeding of crops with large grain[J].Transactions of the CSAE,2014,30(21):1-8.(in Chinese)
6丁幼春,王雪玲,廖庆喜,等.油菜籽漏播螺管式补种器设计与试验[J].农业工程学报,2015,31(22):16-24.DING Youchun,WANG Xueling,LIAO Qingxi,et al.Design and experiment on spiral-tube reseeding device for loss sowing of rapeseed[J].Transactions of the CSAE,2015,31(22):16-24.(in Chinese)
7吴南,林静,李宝筏,等.免耕播种机排种器性能监控系统设计与试验[J/OL].农业机械学报,2016,47(增刊):69-75.http:∥www.j-csam.org/jcsam/ch/reader/view_abstract.aspx?file_no=2016s011&flag=1.DOI:10.6041/j.issn.1000-1298.2016.S0.011.WU Nan,LIN Jing,LI Baofa,et al.Design and test on performance monitoring system of no-tillage planter seed-metering device[J/OL].Transactions of the Chinese Society for Agricultural Machinery,2016,47(Supp.):69-75.(in Chinese)
8姜德美,谢守勇,甘露萍.步进电机启动控制算法设计[J].西南大学学报:自然科学版,2007,29(5):128-132.JIANG Demei,XIE Shouyong,GAN Luping.Designing the control algorithm of the stepping motor startuping[J].Journal of Southwest University:Natural Science Edition,2007,29(5):128-132.(in Chinese)
9苏晓明,张品,祝君宇.广义时变脉冲系统的时域稳定[J].自动化学报,2016,42(2):309-314.SU Xiaoming,ZHANG Pin,ZHU Junyu.Finite-time stability of linear time-varying descriptor impulse systems[J].Acta Automatica Sinica,2016,42(2):309-314.(in Chinese)
10郑雪钦,郭东辉.一种实时自适应步进电机PID控制器设计[J].控制工程,2009,16(5):643-646.ZHENG Xueqin,GUO Donghui.Design of PID controller for real-time adaptive stepping motor[J].Control Engineering of China,2009,16(5):643-646.(in Chinese)
11袁雷,胡冰新,魏克银,等.现代永磁同步电机控制原理及MATLAB仿真[M].北京:北京航空航天大学出版社,2016:80-142.
12刘金琨.滑模变结构控制MATLAB仿真[M].北京:清华大学出版社,2015:1-138.
13李宝筏.农业机械学[M].北京:中国农业出版社,2003:60-64.
14付威,罗锡文,曾山,等.水稻精量旱穴播机穴距电液比例控制系统的设计与试验[J].农业工程学报,2015,31(9):25-31.FU Wei,LUO Xiwen,ZENG Shan,et al.Design and experiment of electro-hydraulic proportional control hill distance system of precision rice hill-drop drilling machine for dry land[J].Transactions of the CSAE,2015,31(9):25-31.(in Chinese)
15金宏亮,邱立春,钱伟.播种机排种监测系统设计与试验研究[J].沈阳农业大学学报,2010,41(6):743-746.JIN Hongliang,QIU Lichun,QIAN Wei.Design and experiment of seeding monitoring system for seed drill[J].Journal of Shenyang Agricultural University,2010,41(6):743-746.(in Chinese)
16窦钰程,欧阳斌林,陈海涛.光敏式气吸播种机监测装置研究[J].东北农业大学学报,2010,41(9):133-136.DOU Yucheng,OUYANG Binlin,CHEN Haitao.Study on photosensitive-type suction planter monitoring apparatus[J].Journal of Northeast Agricultural University,2010,41(9):133-136.(in Chinese)
17张锡志,李敏,孟臣.精密播种智能监测仪的研制[J].农业工程学报,2004,20(2):136-139.ZHANG Xizhi,LI Min,MENG Chen.Research and development of precision seeding intelligent monitor[J].Transactions of the CSAE,2004,20(2):136-139.(in Chinese)
18张继成,陈海涛,欧阳斌林,等.基于光敏传感器的精密播种机监测装置[J].清华大学学报:自然科学版,2013,53(2):265-268.ZHANG Jicheng,CHEN Haitao,OUYANG Binlin,et al.Monitoring system for precision seeders based on a photosensitive sensor[J].Journal of Tsinghua University:Science and Technology,2013,53(2):265-268.(in Chinese)
19赵斌,匡丽红,张伟.气吸式精播机种、肥作业智能计量监测系统[J].农业工程学报,2010,26(2):147-153.ZHAO Bin,KUANG Lihong,ZHANG Wei.Seed and fertilizer intelligent gauging and monitoring system of suction precision seeder[J].Transactions of the CSAE,2010,26(2):147-153.(in Chinese)
20李雷霞,郝志明,杨薇,等.精密播种机排种性能检测系统的研制[J].农业工程,2012,2(8):16-19.LI Leixia,HAO Zhiming,YANG Wei,et al.Design of seeding performance detection system for precision seeder[J].Agricultural Engineering,2012,2(8):16-19.(in Chinese)
21宋鹏,张俊雄,李伟,等.精密播种机工作性能实时监测系统[J].农业机械学报,2011,42(2):71-74.SONG Peng,ZHANG Junxiong,LI Wei,et al.Real-time monitoring system for accuracy of precision seeder[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(2):71-74.(in Chinese)
22黄东岩,朱龙图,贾洪雷,等.基于GPS和GPRS的远程玉米排种质量监测系统[J].农业工程学报,2016,32(6):162-168.HUANG Dongyan,ZHU Longtu,JIA Honglei,et al.Remote monitoring system for corn seeding quality based on GPS and GPRS[J].Transactions of the CSAE,2016,32(6):162-168.(in Chinese)
23 MCDONALD T P,FULTON J P,DARR M J,et al.Evaluation of a system to spatially monitor hand planting of pine seedlings[J].Computers and Electronics in Agriculture,2008,64:173-182.
24 ZHAO Zhan,WU Yafang,YIN Jianjun,et al.Monitoring method of rice seeds mass in vibrating tray for vacuum-panel precision seeder[J].Computers and Electronics in Agriculture,2015,114:25-31.
25 LOWTHE-THOMAS F M,SLATER S C,RANDERSON P F.Reducing the establishment costs of short rotation willow coppice(SRC)-a trial of a novel layflat planting system at an upland site in mid-Wales[J].Biomass and Bioenergy,2010,34(5):677-686.
26 ARZU Y,ADNAN D.Optimisation of the seed spacing uniformity performance of a vacuum-type precision seeder using response surface methodology[J].Biosystems Engineering,2007,97:347-356.
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