Abstract: In order to solve the problems of difficult labor, expensive labor, high labor intensity, low operation efficiency, and insufficient integration of agricultural machinery and agronomy in facility vegetable production, a control system of unmanned ditching fertilizer applicator for facility vegetable production based on PLC and adaptive FuzzyPID was designed.  Siemens S7-200 SMART PLC was used as the main controller to develop the control system of the ditching and fertilizing machine to realize unmanned ditching and fertilizing; and then the adaptive FuzzyPID control method was used to realize precise fertilization. Through the experiment, the maximum relative error of trenching depth was 7.5%, the average relative error was 1.2%, the maximum relative error of fertilization amount was 14%, and the average relative error was 6.6%, which met the requirements of trenching control and precise fertilization. The control system had good stability and high control accuracy, and also met the production requirements.

Key words: ditching fertilizer applicator, PLC, control system, trenching depth, variable fertilization, adaptive FuzzyPID

摘要： 为解决设施蔬菜生产存在的用工难、用工贵、劳动强度大、作业效率低、农机农艺融合不够等问题，设计基于PLC和自适应FuzzyPID的设施蔬菜生产无人化开沟施肥机的控制系统。采用西门子S7-200 SMART PLC 作为主控制器开发开沟施肥机的控制系统，实现无人化开沟施肥；再采用自适应FuzzyPID控制方法实现精准施肥。通过试验可得开沟深度最大相对误差为7.5%，平均相对误差为1.2%，施肥量最大相对误差14%，平均相对误差为6.6%，满足开沟控制要求和精准施肥要求，控制系统稳定性好，控制精度高，满足生产要求。

关键词: 开沟施肥机, PLC, 控制系统, 开沟深度, 变量施肥, 自适应FuzzyPID