Abstract: In response to the problem that the existing liquid fertilizer deep application technology and equipment in orchards cannot meet the personalized nutrient requirements of fruit trees, this paper designs a control system for orchard multiple nutrients precise supply variable fertilizer injection. Three peristaltic pumps were used to supply nitrogen, phosphorus, and potassium liquid fertilizers, and multiple nutrients fertilizer was formed in a mixing box based on precise fertilization decision‑making prescriptions. Hydraulic driven was used for rotary drilling into the soil, and the drilling depth was controlled precisely based on displacement sensor data feedback. Multiple nutrients fertilizer was injected into the soil through small holes at the bottom of the fertilizer rod under the action of the injection pump. The control algorithm and interactive interface were developed, the single circle fertilizer discharge of the peristaltic pump was calibrated, and the mapping relationship between depth and displacement sensor signal values was constructed. Through performance testing, the relative error of fertilizer supply was less than 2%, and the relative error of drilling depth was less than 15%, which can meet the requirements. This system achieves precise on‑site preparation of multi nutrient fertilizers, meeting the personalized nutrient needs of fruit trees.

Key words: preparation of multiple nutrients fertilizer, drilling and fertilization, precision fertilization, orchard

摘要： 针对现有果园液态肥深施技术装备无法满足果树个性化养分需求的问题，设计一种果园多养分精准配肥变量注肥机控制系统。该系统使用三个蠕动泵分别供给氮、磷、钾液态肥料，根据精准施肥决策处方，在混合箱中形成多养分肥料；采用液压驱动旋转钻入土壤，基于位移传感器数据反馈，精准控制钻孔深度；多养分肥料在注肥泵的作用下，经中空的注肥杆从底部小孔注入土壤。开发控制算法和交互式界面，标定蠕动泵的单圈排肥量，构建深度与位移传感器信号值之间的映射关系。通过性能测试，得到肥料供给量的相对误差小于2%，钻孔深度的相对误差小于15%，可以满足要求。该系统实现现场精准配制多养分肥料，满足果树个性化养分需求。

关键词: 多养分肥料配制, 钻孔注肥, 精准施肥, 果园