智能型变量施肥关键技术研究
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摘要
农业的可持续发展要求以最少的投入获得最大的产出,精准农业为农业可持续发展提供了技术基础。本文以智能型变量施肥机为研究对象,针对我国分散型农户生产变量施肥方法进行了系统分析及优化,研究开发了多养分智能变量施肥系统,同时就基于作物长势变量施肥关键技术进行了深入分析,开发了基于作物长势变量施肥系统,并对变量施肥效应进行了试验分析,针对大面积生产作业下使用变量施肥抛撒机关键机构及系统进行了研究及试验。主要研究内容及结论如下：
1、针对中小规模分散农户生产用自动和半自动变量施肥机系统控制技术进行了改进优化。针对长期单一施用一种肥料,在讨论CAN总线技术基础上,在拖拉机自带液压系统基础上开发了基于处方图的多养分变量施肥系统,并设计了整体式阀控液压系统,形成了由GPS系统、机载作业控制终端、变量施肥模块、测速模块等构成的分布式控制多养分变量施肥机。
2、针对基于作物长势变量施肥关键技术进行了深入研究,开发了基于作物长势在线测定变量施肥系统,给出了处方图生成具体步骤及数据处理方法,实现了化学肥料根据作物长势变量投入。运用NFOA施肥模型计算施肥量,结合我国实际生产条件,进行了变量施肥试验,通过对比传统根据土壤养分及目标产量方法进行的变量施肥方式：两年试验在产量均提高的情况下,基于作物长势进行变量施肥产量更趋于均衡,试验田内产量变异由12.79%减小到8.16%,亩均节约尿素肥料施用量1.55kg；在变量施肥与传统均匀施肥小区试验对比中,相比传统平均施肥(225kg/hm2),结果显示亩均提高产量3kg,同时可节约尿素施用量2.5kg,具有较好的经济和环境效益。
3、设计开发了肥料颗粒摩擦系数自动测试装置,解决了肥料摩擦系数传统测试繁琐,测试过程人为因素影响大等因素导致精度不高问题,并对常用的三种肥料进行了摩擦系数测试试验,验证了测试装置性能。同时从理论上分析了肥料颗粒在撒肥盘上及脱离圆盘的运动和受力,建立了肥料颗粒在脱离撒肥圆盘到抛撒到地面两个阶段的运动方程。
4、针对变量施肥抛撒机设计了可以自动调节肥门开度的装置,以及一种可调式落肥机构,实现了能够调节落肥口大小,同时可调节肥料落入撒肥盘位置。设计了一种带有分肥翼拨肥叶片的撒肥机构,从而使进入拨肥叶片的一部分肥料经分肥翼斜向上抛出,拨肥叶片安装范围±30°,分肥翼轮廓为圆弧曲线,曲线方程为x2+(y-178)2=1782,肥料脱离圆盘斜向上抛射角为20°,相比槽型叶片进一步提高了肥料抛撒均匀性。同时为解决作业过程中,液压系统受拖拉机换挡及加速影响撒肥幅宽稳定的问题,设计增加了撒肥幅宽控制系统,进一步提升了机器的智能型。5、通过变量施肥抛撒机相关试验,结果表明：(1)排肥量与肥门开度大小存在较好的相关关系,落肥装置可使排肥链条排出的肥料等分两路落入肥盘,试验结果变异系数均在10%内；(2)撒肥盘转速试验,结果显示撒肥盘转速与PWM占空比之间存在较好的多项式相关关系,判定系数R2为0.997,系统控制精度可在±10rpm/min；(3)抛撒均匀性试验,结果显示采用装有分肥翼的拨肥叶片能够进一步提高肥料的抛撒均匀性,通过抛撒搭接,有效抛撒幅宽内变异系数为14.77%,可以较好的满足实际生产要求,相比传统3.6m幅宽变量施肥机生产率可提高4倍以上。
Sustainable development of agriculture requires the use of minimum investment to maximize production, and precision agriculture provides a good way for sustainable agriculture. In this paper, the intelligent variables as the research object, which aim at variable rate fertilizer method is analyzed in small-scale and mid-scale farmers, the key mechanism and system is researched that variable rate fertilizer spreader in large-scale farming production, and built a variable rate fertilizer system based on multi nutrients in China, and some relevant tests are completed. Some experiments have analyzed that effect of variable rate fertilizer by the information of crops growing. The main research contents and conclusions are as follows:
It was analyzed the automatic and semi-variable rate fertilizer system control technology in suiting to small-scale and mid-scale farming. Aim at using a single fertilizer for long-term in farming, which set up multi-nutrient variable rate fertilization system based on tractor hydraulic system by analyzing CAN bus control technology. The multi-nutrient variable rate fertilization system was constructed by utilizing several microcontroller-driven nodes including GPS system, embedded control terminal, variable rate application controller and ground speed module to act as data collection and control points along CAN bus. The paper has researched that the key technology of variable rate fertilizer machine based on crop growing state, it was analyzed the process of prescription map and data processing ways..A variable rate fertilizer system online determination was designed based on crop growing state, which achieves fertilizer variable application by crop itself growing. By calculating fertilizer amounts using the model of NFOA, some experiments have taken in our country production condition. In the way of fertilizer by tradition based on soil nutrient, yield and crop growing state, the experimental results show that the yield all increased, but yield map shown that experiment of crop growing state was production uniformity, coefficient of variation of yield decreased from12.79%to8.16%in experiment field, saving fertilizer used. Experiment of variable rate fertilizer field and traditional fertilization shown that was more benefit of economy and environment in variable rate fertilizer field, increase yield3kg/mu, and saving fertilizer2.5kg/mu.
The automatic test equipment coefficient of friction has been designed, which can solve some questions that the friction coefficient of fertilizer is difficult to test, operation factors and other factors lead to lower accuracy during the testing process, and the coefficient of friction of three common fertilizer were tested in the paper, the experiments conclusion is verified that the test device performance. A theoretical analysis was conducted the motion state of granular fertilizer during moving in spinner disc and leaving. Analysis of condition that granular fertilizer can leave spinner disc, an analytical calculation the state of granular fertilizer subjected to force under inertia effect during fertilizer was moved to disc border, and a motional equation was established.
Aim at variable rate fertilizer spreader, in this paper have designed the gate device of automatically adjust, the equipment of falling fertilizer which can change opening size and falling fertilizer position in disc by manual adjustment. And a special vane has designed which equipped a wing of separating fertilizer. The device can separate fertilizer of falling to vane, and some fertilizer can throw by the wing in the vane. The vane can fix in±30°, the curve equation for the wing of separating fertilizer was x2+(y-178)2=1782, the angle of fertilizer threw from leaving disc is20°, the uniformity of spreading has got a well purpose. The control system for adjusting spreader breath has designed, which has solved spreading breath difficult control during tractor accelerating and shift.
The experimental results showed that fertilizer amount has linear correlation with gate opening size, the device of falling fertilizer can separate fertilizer from conveyor chain to two part that falling into disc, the coefficient of variation is10%in experiment. In experiment of disc rotation, the results showed that the rotation of disc has well multinomial relation to information of PWM, R2is0.997, rotation error is range±10rpm/min. The experiment of fertilizer uniformity shows that the uniformity is well by using wing of separating fertilizer vane. By spreading overlap test, the results shows that availability breadth coefficient of variation is14.77%, the working result can meet to production in fact, and the spreader productivity is4times than tradition variabale rate fertilizer machine by breadth of3.6metre.
1、针对中小规模分散农户生产用自动和半自动变量施肥机系统控制技术进行了改进优化。针对长期单一施用一种肥料,在讨论CAN总线技术基础上,在拖拉机自带液压系统基础上开发了基于处方图的多养分变量施肥系统,并设计了整体式阀控液压系统,形成了由GPS系统、机载作业控制终端、变量施肥模块、测速模块等构成的分布式控制多养分变量施肥机。
2、针对基于作物长势变量施肥关键技术进行了深入研究,开发了基于作物长势在线测定变量施肥系统,给出了处方图生成具体步骤及数据处理方法,实现了化学肥料根据作物长势变量投入。运用NFOA施肥模型计算施肥量,结合我国实际生产条件,进行了变量施肥试验,通过对比传统根据土壤养分及目标产量方法进行的变量施肥方式：两年试验在产量均提高的情况下,基于作物长势进行变量施肥产量更趋于均衡,试验田内产量变异由12.79%减小到8.16%,亩均节约尿素肥料施用量1.55kg；在变量施肥与传统均匀施肥小区试验对比中,相比传统平均施肥(225kg/hm2),结果显示亩均提高产量3kg,同时可节约尿素施用量2.5kg,具有较好的经济和环境效益。
3、设计开发了肥料颗粒摩擦系数自动测试装置,解决了肥料摩擦系数传统测试繁琐,测试过程人为因素影响大等因素导致精度不高问题,并对常用的三种肥料进行了摩擦系数测试试验,验证了测试装置性能。同时从理论上分析了肥料颗粒在撒肥盘上及脱离圆盘的运动和受力,建立了肥料颗粒在脱离撒肥圆盘到抛撒到地面两个阶段的运动方程。
4、针对变量施肥抛撒机设计了可以自动调节肥门开度的装置,以及一种可调式落肥机构,实现了能够调节落肥口大小,同时可调节肥料落入撒肥盘位置。设计了一种带有分肥翼拨肥叶片的撒肥机构,从而使进入拨肥叶片的一部分肥料经分肥翼斜向上抛出,拨肥叶片安装范围±30°,分肥翼轮廓为圆弧曲线,曲线方程为x2+(y-178)2=1782,肥料脱离圆盘斜向上抛射角为20°,相比槽型叶片进一步提高了肥料抛撒均匀性。同时为解决作业过程中,液压系统受拖拉机换挡及加速影响撒肥幅宽稳定的问题,设计增加了撒肥幅宽控制系统,进一步提升了机器的智能型。5、通过变量施肥抛撒机相关试验,结果表明：(1)排肥量与肥门开度大小存在较好的相关关系,落肥装置可使排肥链条排出的肥料等分两路落入肥盘,试验结果变异系数均在10%内；(2)撒肥盘转速试验,结果显示撒肥盘转速与PWM占空比之间存在较好的多项式相关关系,判定系数R2为0.997,系统控制精度可在±10rpm/min；(3)抛撒均匀性试验,结果显示采用装有分肥翼的拨肥叶片能够进一步提高肥料的抛撒均匀性,通过抛撒搭接,有效抛撒幅宽内变异系数为14.77%,可以较好的满足实际生产要求,相比传统3.6m幅宽变量施肥机生产率可提高4倍以上。
Sustainable development of agriculture requires the use of minimum investment to maximize production, and precision agriculture provides a good way for sustainable agriculture. In this paper, the intelligent variables as the research object, which aim at variable rate fertilizer method is analyzed in small-scale and mid-scale farmers, the key mechanism and system is researched that variable rate fertilizer spreader in large-scale farming production, and built a variable rate fertilizer system based on multi nutrients in China, and some relevant tests are completed. Some experiments have analyzed that effect of variable rate fertilizer by the information of crops growing. The main research contents and conclusions are as follows:
It was analyzed the automatic and semi-variable rate fertilizer system control technology in suiting to small-scale and mid-scale farming. Aim at using a single fertilizer for long-term in farming, which set up multi-nutrient variable rate fertilization system based on tractor hydraulic system by analyzing CAN bus control technology. The multi-nutrient variable rate fertilization system was constructed by utilizing several microcontroller-driven nodes including GPS system, embedded control terminal, variable rate application controller and ground speed module to act as data collection and control points along CAN bus. The paper has researched that the key technology of variable rate fertilizer machine based on crop growing state, it was analyzed the process of prescription map and data processing ways..A variable rate fertilizer system online determination was designed based on crop growing state, which achieves fertilizer variable application by crop itself growing. By calculating fertilizer amounts using the model of NFOA, some experiments have taken in our country production condition. In the way of fertilizer by tradition based on soil nutrient, yield and crop growing state, the experimental results show that the yield all increased, but yield map shown that experiment of crop growing state was production uniformity, coefficient of variation of yield decreased from12.79%to8.16%in experiment field, saving fertilizer used. Experiment of variable rate fertilizer field and traditional fertilization shown that was more benefit of economy and environment in variable rate fertilizer field, increase yield3kg/mu, and saving fertilizer2.5kg/mu.
The automatic test equipment coefficient of friction has been designed, which can solve some questions that the friction coefficient of fertilizer is difficult to test, operation factors and other factors lead to lower accuracy during the testing process, and the coefficient of friction of three common fertilizer were tested in the paper, the experiments conclusion is verified that the test device performance. A theoretical analysis was conducted the motion state of granular fertilizer during moving in spinner disc and leaving. Analysis of condition that granular fertilizer can leave spinner disc, an analytical calculation the state of granular fertilizer subjected to force under inertia effect during fertilizer was moved to disc border, and a motional equation was established.
Aim at variable rate fertilizer spreader, in this paper have designed the gate device of automatically adjust, the equipment of falling fertilizer which can change opening size and falling fertilizer position in disc by manual adjustment. And a special vane has designed which equipped a wing of separating fertilizer. The device can separate fertilizer of falling to vane, and some fertilizer can throw by the wing in the vane. The vane can fix in±30°, the curve equation for the wing of separating fertilizer was x2+(y-178)2=1782, the angle of fertilizer threw from leaving disc is20°, the uniformity of spreading has got a well purpose. The control system for adjusting spreader breath has designed, which has solved spreading breath difficult control during tractor accelerating and shift.
The experimental results showed that fertilizer amount has linear correlation with gate opening size, the device of falling fertilizer can separate fertilizer from conveyor chain to two part that falling into disc, the coefficient of variation is10%in experiment. In experiment of disc rotation, the results showed that the rotation of disc has well multinomial relation to information of PWM, R2is0.997, rotation error is range±10rpm/min. The experiment of fertilizer uniformity shows that the uniformity is well by using wing of separating fertilizer vane. By spreading overlap test, the results shows that availability breadth coefficient of variation is14.77%, the working result can meet to production in fact, and the spreader productivity is4times than tradition variabale rate fertilizer machine by breadth of3.6metre.
引文
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