Abstract: Aiming at the problem of difficult operation control of large rice planter due to the uneven surface of paddy fields, a precise planting depth control scheme applied in paddy field is proposed. The system of the planter is composed of a floating ship sensor, an electric proportional control valve group, a lifting angular sensor, a control device and a burying device with a floating plate. Firstly, a profiling control system based on the floating ship sensors is designed. The system acquires paddy field information through the floating ship sensors and converts it into PID arithmetic unit. Secondly, the PID arithmetic unit of the electro-proportional control valve group is used to control the tilling depth of the seeder. Finally, the buried floating plate achieves the precise burying depth of rice by shaping the paddy field after sowing. The experiment result shows that when the driving speed of the seeder is less than 0.67 m/s, the wide seeder can follow the floating ship sensor to realize profiling, so as to ensure that the seeder ditcher does not separate from the paddy field surface and does not fall into the mud too deep. The test result shows that when the average seed burial depth is controlled at 20 mm±10 mm, the qualification rate of buried depth reaches 96.7%, and the hydraulic oil temperature of the tractor with open center hydraulic system is reduced.

Key words: paddy fields, wide-width rice planter, PID operator, terrain imitation control, seeding machinery

摘要： 针对水田地面不平整导致的大型水稻播种机难以操控的问题,提出一种基于水田的水稻精确埋深控制系统。该系统由浮船传感器、电比例控制阀组、提升角位移传感器、控制装置组成。首先,设计一种基于浮船传感器的仿形控制系统,通过浮船传感器获取水田信息,并将其转化为PID控制参数。其次,通过PID控制电比例控制阀组,从而控制播种机的耕种深度。最后,由掩埋浮板对播种后水田的整形功能实现水稻精确埋深。试验结果表明:当播种机组行驶速度小于0.67 m/s时,宽幅播种机能够跟随浮船传感器浮动,且播种机开沟器不脱离水田表面的同时不陷入太深。当种子埋深平均值控制在20 mm±10 mm时,埋深合格率达96.7%,且降低拖拉机开芯式液压系统的液压油温度。

关键词: 水田, 宽幅水稻播种机, PID运算器, 仿地形控制, 播种机械