基于Flex传感器的免耕播种机播深自动控制系统
|
摘要
为了解决免耕播种机在秸秆覆盖地作业时由于播种深度不够造成的种子裸露现象,以及提高免耕播种机播种深度的控制精度,设计了一套免耕播种机播深自动控制系统,采用Flex传感器作为仿形元件,建立了其在限深轮内的运动数学模型,推导出了Flex传感器的输出电阻变化率与传感器进入印痕区长度的关系。并据此模型采用3个Flex传感器实时检测限深轮与地面接触时的胎面形变,实现播种单体对地压力的监测。系统根据播种单体对地压力的变化,控制电-气比例阀实时调节气压弹簧对播种单体的下压力,从而保证播种深度的一致性。田间对比试验结果表明:Flex传感器和PVDF传感器均具有可靠的仿形性能,在播种作业速度为2.78m/s时,基于PVDF传感器的控制系统和基于Flex传感器的控制系统均能实现播种深度自动调节功能,但后者的控制精度更高,其控制误差在±8mm之间。
In order to solve the problem of seed uncover caused by shallow sowing depth of no-tillage planter working in straw-covered field,and to improve the control accuracy of sowing depth of the notillage planter,an automatic sowing depth control system was designed.Using Flex sensor as a profiling component,its motion mathematical model in the depth wheel was established,and the relationship between output resistance change rate of the sensor and the length of the sensor entering the imprinting area was deduced.According to this model,three Flex sensors were used to detect the tread deformation in real time when the depth-limiting wheel was in contact with the ground,so as to realize the pressure monitoring of the row unit to the ground.Based on the pressure change,the system regulates the down force of the pneumatic spring on the row unit in real time by controlling theelectro-pneumatic proportional valve to ensure the consistency of the sowing depth.Field test results show that both Flex sensors and PVDF sensors can provide reliable profiling performance.When the seeding speed is 2.78 m/s,both the PVDF sensor-based control system and the Flex sensor-based control system can automatically adjust the sowing depth,but the control accuracy of the Flex sensorbased control system is higher that the control error is within±8 mm.
In order to solve the problem of seed uncover caused by shallow sowing depth of no-tillage planter working in straw-covered field,and to improve the control accuracy of sowing depth of the notillage planter,an automatic sowing depth control system was designed.Using Flex sensor as a profiling component,its motion mathematical model in the depth wheel was established,and the relationship between output resistance change rate of the sensor and the length of the sensor entering the imprinting area was deduced.According to this model,three Flex sensors were used to detect the tread deformation in real time when the depth-limiting wheel was in contact with the ground,so as to realize the pressure monitoring of the row unit to the ground.Based on the pressure change,the system regulates the down force of the pneumatic spring on the row unit in real time by controlling theelectro-pneumatic proportional valve to ensure the consistency of the sowing depth.Field test results show that both Flex sensors and PVDF sensors can provide reliable profiling performance.When the seeding speed is 2.78 m/s,both the PVDF sensor-based control system and the Flex sensor-based control system can automatically adjust the sowing depth,but the control accuracy of the Flex sensorbased control system is higher that the control error is within±8 mm.
引文
[1]宋鹏,张俊雄,李伟,等.精密播种机工作性能实时监测系统[J].农业机械学报,2011,42(2):71-74.Song Peng,Zhang Jun-xiong,Li Wei,et al.Realtime monitoring system for accuracy of precision seeder[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(2):71-74.
[2]黄东岩,朱龙图,贾洪雷,等.基于GPS和GPRS的远程玉米排种质量监测系统[J].农业工程学报,2016,32(6):162-168.Huang Dong-yan,Zhu Long-tu,Jia Hong-lei,et al.Remote quality monitoring system for corn seeding based on GPS and GPRS[J].Transactions of the CSAE,2016,32(6):162-168.
[3]周利明,王书茂,张小超,等.基于电容信号的玉米播种机排种性能监测系统[J].农业工程学报,2012,28(13):16-21.Zhou Li-ming,Wang Shu-mao,Zhang Xiao-chao,et al.Seed monitoring system for corn planter based on capacitance signal[J].Transactions of the CSAE,2012,28(13):16-21.
[4]白晓虎,张祖立.基于ADAMS的播种机仿形机构运动仿真[J].农机化研究,2009(3):40-42.Bai Xiao-hu,Zhang Zu-li.Motion simulation profiling mechanism of a planter based on ADAMS[J].Journal of Agricultural Mechanization Research,2009(3):40-42.
[5]赵淑红,蒋恩臣,闫以勋,等.小麦播种机开沟器双向平行四杆仿形机构的设计及运动仿真[J].农业工程学报,2013,29(14):26-32.Zhao Shu-hong,Jiang En-chen,Yan Yi-xun,et al.Design and motion simulation of opener with bidirectional parallelogram linkage profiling mechanism on wheat seeder[J].Transactions of the CSAE,2013,29(14):26-32.
[6]马永财,张伟,李玉清,等.播种机单体两种仿形机构的研究[J].农机化研究,2011(8):101-103.Ma Yong-cai,Zhang Wei,Li Yu-qing,et al.Study on two profiling mechanism of planter unit[J].Journal of Agricultural Mechanization Research,2011(8):101-103.
[7]Saeys W,Engelen K,Ramon H,et al.An automatic depth control system for shallow manure injection,part 1:modelling of the depth control system[J].Biosystems Engineering,2007,98(2):146-154.
[8]Kiani S.Automatic on-line depth control of seeding units using a non-contacting ultrasonic sensor[J].International Journal of Natural and Engineering Sciences,2012,6(2):39-42.
[9]蔡国华,李慧,李洪文,等.基于ATmega128单片机的开沟深度自控系统试验台的设计[J].农业工程学报,2011,27(10):11-16.Cai Guo-hua,Li Hui,Li Hong-wen,et al.Design of test-bed for automatic depth of furrow opening control system based on ATmega128single chip microcomputer[J].Transactions of the CSAE,2011,27(10):11-16.
[10]黄东岩,朱龙图,贾洪雷,等.基于压电薄膜的免耕播种机播种深度控制系统[J].农业机械学报,2015,46(4):1-8.Huang Dong-yan,Zhu Long-tu,Jia Hong-lei,et al.Automatic control system of seeding depth based on piezoelectric film for no-till planter[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(4):1-8.
[11]钟海彬,毛崎波.基于PVDF传感器的阶梯梁实验模态分析[J].传感器与微系统,2015,34(4):38-41.Zhong Hai-bin, Mao Qi-bo.Experimental modal analysis for stepped beam by using PVDF sensor[J].Transducer and Microsystem Technologies,2015,34(4):38-41.
[12]黄东岩,贾洪雷,祁悦,等.基于聚偏二氟乙烯压电薄膜的播种机排种监测系统[J].农业工程学报,2013,29(23):15-22.Huang Dong-yan,Jia Hong-lei,Qi Yue,et al.Seeding monitor system for planter based on polyvinylidence fluoride piezoelectric film[J].Transactions of the CSAE,2013,29(23):15-22.
[13]朱龙图.免耕播种机播种深度自动控制系统研究[D].长春:吉林农业大学信息技术学院,2017.Zhu Long-tu.Research on automatic control system of sowing depth for no-till planter[D].Changchun:College of Information Techology,Jilin Agricultural University,2017.
[14]Memoon S,Hyun W D,Kyoung H N,et al.Highly stableflex sensors fabricated through mass production roll-to-roll micro-gravure printing system[J].Sensors&Actuators A Physical,2015,236(6):73-81.
[15]Giovanni S.A novel array of flex sensors for a goniometric glove[J].Sensors&Actuators—A Physical,2014,205:119-125.
[16]Abidhusain S,Zamrrud T H,Melligeri T,et al.Flex sensor based robotic arm controller using micro controller[J].Journal of Software Engineering and Applications(JSEA),2012,5(5):364-366.
[17]Giovanni S.Mechanical model of flex sensors used to sense finger movements[J].Sensors and Actuators—A Physical,2012,185(5):53-58.
[18]Hwan S Y,Gregory W,Amita D.Modeling,optimization,and design of efficient initially curved piezoceramic unimorphs for energy harvesting applications[J].Journal of Intelligent Material Systems and Structures,2005,16(10):877-888.
[19]Qatu M S.Free vibration and static analysis of laminated composite shallow shells[D].Columbus:The Ohio State University,1989.
[20]闫荆,朱龙图,于婷婷,等.免耕播种机播种深度实时监测系统[J].农机化研究,2016(9):214-218.Yan Jing,Zhu Long-tu,Yu Ting-ting,et al.Seeding depth real-time monitoring system for a no-till planter[J].Journal of Agricultural Mechanization Research,2016(9):214-218.
[21]Pasi S,Timo O.Automatic working depth control for seed drill using ISO-11783remote control messagess[J].Computers and Electronics in Agriculture,2015,116:30-35.
[2]黄东岩,朱龙图,贾洪雷,等.基于GPS和GPRS的远程玉米排种质量监测系统[J].农业工程学报,2016,32(6):162-168.Huang Dong-yan,Zhu Long-tu,Jia Hong-lei,et al.Remote quality monitoring system for corn seeding based on GPS and GPRS[J].Transactions of the CSAE,2016,32(6):162-168.
[3]周利明,王书茂,张小超,等.基于电容信号的玉米播种机排种性能监测系统[J].农业工程学报,2012,28(13):16-21.Zhou Li-ming,Wang Shu-mao,Zhang Xiao-chao,et al.Seed monitoring system for corn planter based on capacitance signal[J].Transactions of the CSAE,2012,28(13):16-21.
[4]白晓虎,张祖立.基于ADAMS的播种机仿形机构运动仿真[J].农机化研究,2009(3):40-42.Bai Xiao-hu,Zhang Zu-li.Motion simulation profiling mechanism of a planter based on ADAMS[J].Journal of Agricultural Mechanization Research,2009(3):40-42.
[5]赵淑红,蒋恩臣,闫以勋,等.小麦播种机开沟器双向平行四杆仿形机构的设计及运动仿真[J].农业工程学报,2013,29(14):26-32.Zhao Shu-hong,Jiang En-chen,Yan Yi-xun,et al.Design and motion simulation of opener with bidirectional parallelogram linkage profiling mechanism on wheat seeder[J].Transactions of the CSAE,2013,29(14):26-32.
[6]马永财,张伟,李玉清,等.播种机单体两种仿形机构的研究[J].农机化研究,2011(8):101-103.Ma Yong-cai,Zhang Wei,Li Yu-qing,et al.Study on two profiling mechanism of planter unit[J].Journal of Agricultural Mechanization Research,2011(8):101-103.
[7]Saeys W,Engelen K,Ramon H,et al.An automatic depth control system for shallow manure injection,part 1:modelling of the depth control system[J].Biosystems Engineering,2007,98(2):146-154.
[8]Kiani S.Automatic on-line depth control of seeding units using a non-contacting ultrasonic sensor[J].International Journal of Natural and Engineering Sciences,2012,6(2):39-42.
[9]蔡国华,李慧,李洪文,等.基于ATmega128单片机的开沟深度自控系统试验台的设计[J].农业工程学报,2011,27(10):11-16.Cai Guo-hua,Li Hui,Li Hong-wen,et al.Design of test-bed for automatic depth of furrow opening control system based on ATmega128single chip microcomputer[J].Transactions of the CSAE,2011,27(10):11-16.
[10]黄东岩,朱龙图,贾洪雷,等.基于压电薄膜的免耕播种机播种深度控制系统[J].农业机械学报,2015,46(4):1-8.Huang Dong-yan,Zhu Long-tu,Jia Hong-lei,et al.Automatic control system of seeding depth based on piezoelectric film for no-till planter[J].Transactions of the Chinese Society of Agricultural Machinery,2015,46(4):1-8.
[11]钟海彬,毛崎波.基于PVDF传感器的阶梯梁实验模态分析[J].传感器与微系统,2015,34(4):38-41.Zhong Hai-bin, Mao Qi-bo.Experimental modal analysis for stepped beam by using PVDF sensor[J].Transducer and Microsystem Technologies,2015,34(4):38-41.
[12]黄东岩,贾洪雷,祁悦,等.基于聚偏二氟乙烯压电薄膜的播种机排种监测系统[J].农业工程学报,2013,29(23):15-22.Huang Dong-yan,Jia Hong-lei,Qi Yue,et al.Seeding monitor system for planter based on polyvinylidence fluoride piezoelectric film[J].Transactions of the CSAE,2013,29(23):15-22.
[13]朱龙图.免耕播种机播种深度自动控制系统研究[D].长春:吉林农业大学信息技术学院,2017.Zhu Long-tu.Research on automatic control system of sowing depth for no-till planter[D].Changchun:College of Information Techology,Jilin Agricultural University,2017.
[14]Memoon S,Hyun W D,Kyoung H N,et al.Highly stableflex sensors fabricated through mass production roll-to-roll micro-gravure printing system[J].Sensors&Actuators A Physical,2015,236(6):73-81.
[15]Giovanni S.A novel array of flex sensors for a goniometric glove[J].Sensors&Actuators—A Physical,2014,205:119-125.
[16]Abidhusain S,Zamrrud T H,Melligeri T,et al.Flex sensor based robotic arm controller using micro controller[J].Journal of Software Engineering and Applications(JSEA),2012,5(5):364-366.
[17]Giovanni S.Mechanical model of flex sensors used to sense finger movements[J].Sensors and Actuators—A Physical,2012,185(5):53-58.
[18]Hwan S Y,Gregory W,Amita D.Modeling,optimization,and design of efficient initially curved piezoceramic unimorphs for energy harvesting applications[J].Journal of Intelligent Material Systems and Structures,2005,16(10):877-888.
[19]Qatu M S.Free vibration and static analysis of laminated composite shallow shells[D].Columbus:The Ohio State University,1989.
[20]闫荆,朱龙图,于婷婷,等.免耕播种机播种深度实时监测系统[J].农机化研究,2016(9):214-218.Yan Jing,Zhu Long-tu,Yu Ting-ting,et al.Seeding depth real-time monitoring system for a no-till planter[J].Journal of Agricultural Mechanization Research,2016(9):214-218.
[21]Pasi S,Timo O.Automatic working depth control for seed drill using ISO-11783remote control messagess[J].Computers and Electronics in Agriculture,2015,116:30-35.