Abstract: In order to solve the problem of missseeding and reseeding existed in the vegetable planting process, a precision seed metering device based on Kalman filter PID control technology was designed. The key components of the seed metering device and monitoring device were designed, and the control system of sensor realtime monitoring speed signal was established. At the same time, different crop spacing values were used as the control basis, and the PID control method of compensation and Kalman filter was used to maintain the stability of speed by regulating the motor, so as to achieve precision seeding. The simulation results showed that the introduction of Kalman filter could effectively suppress the noise interference and improve the system stability. Taking the rotation speed and walking speed of the seed metering plate as variables, and taking the qualified rate of plant spacing, reseeding rate, missed planting rate and coefficient of variation of plant spacing as indicators, a quadratic regression orthogonal rotation combination test with two factors and five levels was carried out. The bench test showed that the coefficient of variation of plant spacing was within the specified range of ≤35% at different vehicle speeds. When the speed of the seeding plate was 10 r/min and the walking speed was 16 km/h, the qualified rate of plant spacing was 95.9%. The reseeding rate was 2.9%, the missedseeding rate was 1.9%, and the coefficient of variation of plant spacing was 12.1%, which met the requirements for precise sowing of facility vegetables.

Key words: facility vegetables, seed metering device, precision seeding, Kalman filter

摘要： 针对设施蔬菜种植过程存在漏播、重播问题，设计基于卡尔曼滤波PID控制技术的精量排种器。分别对排种器关键组件和监测装置进行结构设计，建立传感器实时监测车速信号的控制系统，同时以不同作物株距值共同作为控制依据，补偿融合卡尔曼滤波的PID控制方法，通过调控电机保持转速的稳定性，从而实现精量播种。仿真结果表明：卡尔曼滤波的引入，对噪声干扰起到良好抑制作用，可提高系统稳定性。以排种盘转速和行走速度为变量，以株距合格率、重播率、漏播率和株距变异系数为指标，进行两因素五水平的二次回归正交旋转组合试验。台架试验表明：在不同车速下，株距变异系数均在规定的≤35%指标范围内，排种盘转速为10 r/min，行走速度为1.6 km/h时，株距合格率为95.9%，重播率为29%，漏播率为1.9%，株距变异系数为12.1%，满足设施蔬菜的精量播种要求。

关键词: 设施蔬菜, 排种器, 精量播种, 卡尔曼滤波