小麦机械化匀播控制系统设计与试验

doi:10.13733/j.jcam.issn.2095-5553.2024.02.005

摘要/Abstract

摘要： 针对播种作业均匀性差的问题,设计基于STM32单片机的小麦机械化匀播控制系统,通过轮式机器人变速作业,并依据轮式行驶机器人实时行驶速度,控制排种电机转速,实现变速匀播。采用多级控制直流电机转速,一级控制参数为轮式行驶机器人实时行驶速度信号,采用PID控制;二级控制参数为排种器电机实时电流和转速,采用模糊PID控制。控制算法仿真结果表明,该控制算法响应时间短,超调量小,控制效果良好。播种试验结果表明,轮式行驶机器人恒速状态下的播量控制精度达96.8%,变速状态下的播量控制精度达95.1%。

关键词: 播种机, 均匀播种, 播量控制, 多级控制, 电机控制

Abstract: In order to solve the problem of poor uniformity of sowing operation, a wheat mechanized sowing control system based on STM32 single chip microcomputer is designed. The wheeled driving robot could travel with variable speed. According to the real-time driving speed of the wheeled driving robot, the speed of the seeding motor is controlled to realize the variable speed and uniform seeding. The system used multi-stage control of DC motor speed. The real-time speed signal of the wheeled driving robot is used for The first-stage control parameter, which is controlled by PID. The real-time current and speed of the seeder motor are used for secondary control parameters, which is controlled by fuzzy PID. Simulation results show that the control algorithm has short response time, small overshoot and good control effect. The results of sowing experiment have shown that the control accuracy of seeding amount under constant speed condition is 96.8% and that under variable speed condition is 95.1%.

Key words: seeder, evenly sowing, seeding rate control, multi-stage control, motor control

中图分类号:

S223.2

孙小雯, 奚小波, 陈猛, 黄盛杰, 金亦富, 张瑞宏, . 小麦机械化匀播控制系统设计与试验[J]. 中国农机化学报, 2024, 45(2): 27-32.

Sun Xiaowen, Xi Xiaobo, Chen Meng, Huang Shengjie, Jin Yifu, Zhang Ruihong, . Design and experiment of control system of wheat mechanized uniform sowing[J]. Journal of Chinese Agricultural Mechanization, 2024, 45(2): 27-32.

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