稻麦变量施肥机控制系统设计与试验
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摘要
针对稻麦变量施肥智能化程度低、通信系统可靠性和兼容性差等问题,研究设计了一种稻麦变量施肥机控制系统。该系统以CAN总线通讯作为现场总线,实现各控制节点之间的实时通信;通过GPS导航和处方图得到当前位置需肥量,根据变量施肥数学模型,通过步进电机节点实时调节外槽轮排肥器开度,实现施肥变量调节。试验结果表明:该系统机械结构设计合理,动作响应迅速,定位精准,各行排肥器之间排肥量变异系数最大为1. 78%,变量施肥精度达97%以上,作业效果良好。其控制程序稳定可靠,各控制节点之间通信及时、准确,整机设计合理,系统工作稳定,智能化程度高,各项技术指标满足农艺要求。
In order to solve the problems of rice and wheat variable rate fertilization,such as low intelligence level,poor reliability and compatibility of communication system,a control system for rice and wheat variable rate fertilizer applicator was designed. The system used CAN bus communication as the field bus to realize the real-time communication between the control nodes. The carrier phase difference technique was used to obtain the position of the tractor in the field,and the amount of the current position was obtained by combining the prescription map. The mathematical model of variable fertilization with practical significance was obtained through calculation and experimental calibrating. The stepper motor regulates the opening of the fluted roller feed distributor and realizes the variable rate fertilizer application. The test results showed that the communication between the nodes of the system is stable and reliable. The adjustment mechanism of the system is quick in response and accurate in positioning. The design of the whole machine is reasonable and the system work is stable,the precision of variable fertilization is more than 93%,and the technical indexes meet the agronomic requirements.
In order to solve the problems of rice and wheat variable rate fertilization,such as low intelligence level,poor reliability and compatibility of communication system,a control system for rice and wheat variable rate fertilizer applicator was designed. The system used CAN bus communication as the field bus to realize the real-time communication between the control nodes. The carrier phase difference technique was used to obtain the position of the tractor in the field,and the amount of the current position was obtained by combining the prescription map. The mathematical model of variable fertilization with practical significance was obtained through calculation and experimental calibrating. The stepper motor regulates the opening of the fluted roller feed distributor and realizes the variable rate fertilizer application. The test results showed that the communication between the nodes of the system is stable and reliable. The adjustment mechanism of the system is quick in response and accurate in positioning. The design of the whole machine is reasonable and the system work is stable,the precision of variable fertilization is more than 93%,and the technical indexes meet the agronomic requirements.
引文
[1]刘成良,苑进,刘建政,等.基于ARM和DSP的双变量施肥控制系统设计与试验[J].农业机械学报,2010,41(S1):233-238.
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[14]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.
[15]张家华,张立新,李振,等.变量施肥机下位机控制系统的设计[J].中国农机化,2016,37(4):196-201.
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[17]胡炼,罗锡文,张智刚,等.基于CAN总线的分布式插秧机导航控制系统设计[J].农业工程学报,2009,25(12):88-92.
[18]王鹏,王熙.嵌入式变量施肥控制软件的设计——基于e Super Map控件[J].农机化研究,2015,37(4):223-225,229.
[19]许鑫,张浩,席磊,等.基于Web GIS的小麦精准施肥决策系统[J].农业工程学报,2011,27(S2):94-98.
[20]邵利敏,王秀,牛晓颖,等.基于PLC的变量施肥控制系统设计与试验[J].农业机械学报,2007(11):84-87.
[21]李加念,洪添胜,冯瑞珏,等.基于脉宽调制的文丘里变量施肥装置设计与试验[J].农业工程学报,2012,28(08):105-110.
[22]耿向宇,李彦明,苗玉彬,等.基于GPRS的变量施肥机系统研究[J].农业工程学报,2007(11):164-167.
[23]罗莉,张富贵,李宜汀,等.基于无GPS定位的变量施肥控制系统的研究[J].农机化研究,2018,40(1):96-100.
[2] Kim Y J,Kim H J,Ryu K H,et al. Fertiliser application performance of a variable-rate pneumatic granular applicator for rice production[J]. Biosystems Engineering,2008,100(4):498-510.
[3]付卫强,孟志军,黄文倩,等.基于CAN总线的变量施肥控制系统[J].农业工程学报,2008,24(S2):127-132.
[4]张书慧,齐江涛,廖宗建,等.基于CPLD的变量施肥控制系统开发与应用[J].农业工程学报,2010,26(8):200-204.
[5]安秋,姬长英,周俊,等.基于CAN总线的农业移动机器人分布式控制网络[J].农业机械学报,2008(6):123-126,117.
[6]陈立平,黄文倩,孟志军,等.基于CAN总线的变量施肥控制器设计[J].农业机械学报,2008(8):101-104,185.
[7]陈金,赵斌,衣淑娟,等.我国变量施肥技术研究现状与发展对策[J].农机化研究,2017,39(10):1-6.
[8]汪小旵,陈满,孙国祥,等.冬小麦变量施肥机控制系统的设计与试验[J].农业工程学报,2015,31(S2):88-92.
[9]齐兴源,周志艳,杨程,等.稻田气力式变量施肥机关键部件的设计与试验[J].农业工程学报,2016,32(6):20-26,316.
[10]李振,张立新,喻俊志,等.电控液压双变量施肥机排肥试验研究[J].农机化研究,2015,37(2):195-198.
[11] Maleki M R,Mouazen A M,Baerdemaeker J,et al. Onthe–go variable rate phosphorus fertilization base on a VIS-NIR soil sensor[J]. Biosystems Engineering,2007,99(1):35-46.
[12]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
[13]张辉,李树君,张小超,等.变量施肥电液比例控制系统的设计与实现[J].农业工程学报,2010,26(S2):218-222.
[14]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.
[15]张家华,张立新,李振,等.变量施肥机下位机控制系统的设计[J].中国农机化,2016,37(4):196-201.
[16]杨旗,陆云龙.基于CAN总线的传感器网络节点设计[J].仪表技术与传感器,2011(9):95-96,110.
[17]胡炼,罗锡文,张智刚,等.基于CAN总线的分布式插秧机导航控制系统设计[J].农业工程学报,2009,25(12):88-92.
[18]王鹏,王熙.嵌入式变量施肥控制软件的设计——基于e Super Map控件[J].农机化研究,2015,37(4):223-225,229.
[19]许鑫,张浩,席磊,等.基于Web GIS的小麦精准施肥决策系统[J].农业工程学报,2011,27(S2):94-98.
[20]邵利敏,王秀,牛晓颖,等.基于PLC的变量施肥控制系统设计与试验[J].农业机械学报,2007(11):84-87.
[21]李加念,洪添胜,冯瑞珏,等.基于脉宽调制的文丘里变量施肥装置设计与试验[J].农业工程学报,2012,28(08):105-110.
[22]耿向宇,李彦明,苗玉彬,等.基于GPRS的变量施肥机系统研究[J].农业工程学报,2007(11):164-167.
[23]罗莉,张富贵,李宜汀,等.基于无GPS定位的变量施肥控制系统的研究[J].农机化研究,2018,40(1):96-100.