基于电机驱动的定位施肥控制系统设计与试验
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摘要
在准确的位置投入适量的肥料是满足农田精细施肥作业的基本需求。为了实现以玉米苗期根部位置为依据的定位施肥作业,设计了一种基于电机驱动的定位施肥控制系统,该系统硬件部分主要由上位机、下位机处理器、电机和驱动器组成。分析了定位施肥过程中的迟滞现象,建立了施肥位置滞后模型;将滞后距离作为提前量,实时置入控制系统,提出了阈值控制算法;最后,通过试验平台对该控制系统稳定性和准确性进行验证。试验结果表明,该控制系统在电机转速50～201 r/min的范围内运行稳定,平均系统响应时间为0. 8 s。
Appropriate amount of fertilization in an accurate position is the basic requirement for meeting the precise fertilization operation in the field. The domestically used ground-wheel-driven fertilizer applicator can not be controlled in real time to meet the requirements of fertilization accuracy. The outergroove wheel fertilizer has a simple structure to be controlled by a motor easily. In order to realize the positioning and fertilization operation based on the root position of the corn seedling stage,a position fertilization control system was designed based on a motor drive,which mainly included the master computer,the slave computer processor,the motor and the driver. The problem of fertilization lag was widespread in fertilization research,which was effectively solved. The factors causing the delay time were analyzed and the lag model of the fertilization position was established,the stability of the control system was improved and the error was reduced. A threshold control algorithm was proposed for placing the lag distance as the advance amount into the control system. The stability and accuracy of the control system were verified by a test platform. The test results show that the control system can control the speed of the fertilizing motor in the range of 50 ～ 201 r/min stably,and complete the position fertilization with an average response time of 0. 8 s. The results of this study can reduce the delay of fertilization and improve the accuracy of fertilization positioning.
Appropriate amount of fertilization in an accurate position is the basic requirement for meeting the precise fertilization operation in the field. The domestically used ground-wheel-driven fertilizer applicator can not be controlled in real time to meet the requirements of fertilization accuracy. The outergroove wheel fertilizer has a simple structure to be controlled by a motor easily. In order to realize the positioning and fertilization operation based on the root position of the corn seedling stage,a position fertilization control system was designed based on a motor drive,which mainly included the master computer,the slave computer processor,the motor and the driver. The problem of fertilization lag was widespread in fertilization research,which was effectively solved. The factors causing the delay time were analyzed and the lag model of the fertilization position was established,the stability of the control system was improved and the error was reduced. A threshold control algorithm was proposed for placing the lag distance as the advance amount into the control system. The stability and accuracy of the control system were verified by a test platform. The test results show that the control system can control the speed of the fertilizing motor in the range of 50 ～ 201 r/min stably,and complete the position fertilization with an average response time of 0. 8 s. The results of this study can reduce the delay of fertilization and improve the accuracy of fertilization positioning.
引文
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[13]张书慧,齐江涛,廖宗建,等.基于CPLD的变量施肥控制系统开发与应用[J].农业工程学报,2010,26(8):200-204.ZHANG Shuhui,QI Jiangtao,LIAO Zongjian,et al.Research and application of control system for variable rate fertilizer applicator based on CPLD[J].Transactions of the CSAE,2010,26(8):200-204.(in Chinese)
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[15]杨硕,王秀,翟长远,等.支持种肥监测的变量施肥系统设计与试验[J].农业机械学报,2018,49(10):145-153.YANG Shuo,WANG Xiu,ZHAI Changyuan,et al.Design and test on variable rate fertilization system supporting seeding and fertilizing monitoring[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):145-153.(in Chinese)
[16]戚武振,王金星,刘双喜,等.稻麦变量施肥机控制系统设计与试验[J].农机化研究,2019,41(8):72-79.QI Wuzhen,WANG Jinxing,LIU Shuangxi,et al.Design and experiment of control system for rice and wheat variable rate fertilizer applicator[J].Journal of Agricultural Mechanization Research,2019,41(8):72-79.(in Chinese)
[17]LIANG Chunying.Research of PID algorithm for valve controlled hydraulic motor variable rate fertilizer control system[C]∥Proceedings of 7th IFIP WG 5.14 International Conference,CCTA,2013.
[18]XU Taosheng.A novel variable rate fertilization system based on the Android platform[C]∥Proceedings of 2015 IEEEInternational Conference on Progress in Informatics and Computing,2015.
[19]CHATTHA H S,ZAMAN Q U,CHANG Y K,et al.Variable rate spreader for real-time spot-application of granular fertilizer in wild blueberry[J].Computers and Electronics in Agriculture,2014,100:70-78.
[20]孟志军,赵春江,付卫强,等.变量施肥处方图识别与位置滞后修正方法[J].农业机械学报,2011,42(7):204-209.MENG Zhijun,ZHAO Chunjiang,FU Weiqiang,et al.Prescription map identification and position lag calibration method for variable rate application of fertilizer[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):204-209.(in Chinese)
[21]孟志军,赵春江,刘卉,等.基于处方图的变量施肥作业系统设计与实现[J].江苏大学学报(自然科学版),2009,30(4):338-342.MENG Zhijun,ZHAO Chunjiang,LIU Hui,et al.Development and performance assessment of map-based variable rate granule application system[J].Journal of Jiangsu University(Natural Science Edition),2009,30(4):338-342.(in Chinese)
[2]付宇超,袁文胜,张文毅,等.我国施肥机械化技术现状及问题分析[J].农机化研究,2017,39(1):251-255,263.FU Yuchao,YUAN Wensheng,ZHANG Wenyi,et al.Present situation and problem analysis of the technology of fertilizer mechanization in China[J].Journal of Agricultural Mechanization Research,2017,39(1):251-255,263.(in Chinese)
[3]李坤,袁文胜,张文毅,等.玉米施肥技术与施肥机械的研究现状及趋势[J].农机化研究,2017,39(1):264-268.LI Kun,YUAN Wensheng,ZHANG Wenyi,et al.Research status and development trend of corn fertilizing technology and fertilizing machine[J].Journal of Agricultural Mechanization Research,2017,39(1):264-268.(in Chinese)
[4]陈金,赵斌,衣淑娟,等.我国变量施肥技术研究现状与发展对策[J].农机化研究,2017,39(10):1-6.CHEN Jin,ZHAO Bin,YI Shujuan,et al.Research on present situation and the development counter measures of variable rate fertilization technology in China[J].Journal of Agricultural Mechanization Research,2017,39(10):1-6.(in Chinese)
[5]唐汉,王金武,徐常塑,等.化肥减施增效关键技术研究进展分析[J].农业机械学报,2019,50(4):1-19.TANG Han,WANG Jinwu,XU Changsu,et al.Research progress analysis on key technology of chemical fertilizer reduction and efficiency increase[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(4):1-19.(in Chinese)
[6]国委文.中耕施肥机常用排肥器类型及性能研究[J].农业科技与装备,2015(2):27-29.GUO Weiwen.Research on types and performance of commonly used fertilizer feeders in intertillage fertilizer applicator[J].Agricultural Science&Technology and Equipment,2015(2):27-29.(in Chinese)
[7]汪博涛,白璐,丁尚鹏,等.外槽轮排肥器关键工作参数对排肥量影响的仿真与试验研究[J].中国农机化学报,2017,38(10):1-6,23.WANG Botao,BAI Lu,DING Shangpeng,et al.Simulation and experimental study on impact of fluted-roller fertilizer key parameters on fertilizer amount[J].Journal of Chinese Agricultural Mechanization,2017,38(10):1-6,23.(in Chinese)
[8]施印炎,陈满,汪小旵,等.稻麦精准变量施肥机排肥性能分析与试验[J].农业机械学报,2017,48(7):97-103.SHI Yinyan,CHEN Man,WANG Xiaochan,et al.Analysis and experiment of fertilizing performance for precision fertilizer applicator in rice and wheat fields[J].Transactions of the Chinese Society for Agricultural Machinery,2017,48(7):97-103.(in Chinese)
[9]李秋国,张秀平.地轮驱动式固体有机肥撒施机的研究[J].河北农机,2014(3):54-55.LI Qiuguo,ZHANG Xiuping.Research on solid ground wheel driven machine organic fertilizer applicator[J].Hebei Agricultural Machinery,2014(3):54-55.(in Chinese)
[10]梁春英,衣淑娟,王熙,等.变量施肥控制系统PID控制策略[J].农业机械学报,2010,41(7):157-162.LIANG Chunying,YI Shujuan,WANG Xi,et al.Strategy of the variable rate fertilization control system[J].Transactions of the Chinese Society for Agricultural Machinery,2010,41(7):157-162.(in Chinese)
[11]苑严伟,张小超,吴才聪,等.玉米免耕播种施肥机精准作业监控系统[J].农业工程学报,2011,27(8):222-226.YUAN Yanwei,ZHANG Xiaochao,WU Caicong,et al.Precision control system of no-tillage corn planter[J].Transactions of the CSAE,2011,27(8):222-226.(in Chinese)
[12]李宜汀,张富贵,卢剑锋,等.基于数字PI算法的精准施肥控制系统设计及仿真[J].农机化研究,2017,39(10):108-112,118.LI Yiting,ZHANG Fugui,LU Jianfeng,et al.Design and simulation of precision fertilization control system based on digital PIalgorithm[J].Journal of Agricultural Mechanization Research,2017,39(10):108-112,118.(in Chinese)
[13]张书慧,齐江涛,廖宗建,等.基于CPLD的变量施肥控制系统开发与应用[J].农业工程学报,2010,26(8):200-204.ZHANG Shuhui,QI Jiangtao,LIAO Zongjian,et al.Research and application of control system for variable rate fertilizer applicator based on CPLD[J].Transactions of the CSAE,2010,26(8):200-204.(in Chinese)
[14]陈满,施印炎,汪小旵,等.基于光谱探测的小麦精准追肥机设计与试验[J].农业机械学报,2015,46(5):26-32.CHEN Man,SHI Yinyan,WANG Xiaochan,et al.Design and experiment of variable rate fertilizer applicator based on crop canopy spectral reflectance[J].Transactions of the Chinese Society for Agricultural Machinery,2015,46(5):26-32.(in Chinese)
[15]杨硕,王秀,翟长远,等.支持种肥监测的变量施肥系统设计与试验[J].农业机械学报,2018,49(10):145-153.YANG Shuo,WANG Xiu,ZHAI Changyuan,et al.Design and test on variable rate fertilization system supporting seeding and fertilizing monitoring[J].Transactions of the Chinese Society for Agricultural Machinery,2018,49(10):145-153.(in Chinese)
[16]戚武振,王金星,刘双喜,等.稻麦变量施肥机控制系统设计与试验[J].农机化研究,2019,41(8):72-79.QI Wuzhen,WANG Jinxing,LIU Shuangxi,et al.Design and experiment of control system for rice and wheat variable rate fertilizer applicator[J].Journal of Agricultural Mechanization Research,2019,41(8):72-79.(in Chinese)
[17]LIANG Chunying.Research of PID algorithm for valve controlled hydraulic motor variable rate fertilizer control system[C]∥Proceedings of 7th IFIP WG 5.14 International Conference,CCTA,2013.
[18]XU Taosheng.A novel variable rate fertilization system based on the Android platform[C]∥Proceedings of 2015 IEEEInternational Conference on Progress in Informatics and Computing,2015.
[19]CHATTHA H S,ZAMAN Q U,CHANG Y K,et al.Variable rate spreader for real-time spot-application of granular fertilizer in wild blueberry[J].Computers and Electronics in Agriculture,2014,100:70-78.
[20]孟志军,赵春江,付卫强,等.变量施肥处方图识别与位置滞后修正方法[J].农业机械学报,2011,42(7):204-209.MENG Zhijun,ZHAO Chunjiang,FU Weiqiang,et al.Prescription map identification and position lag calibration method for variable rate application of fertilizer[J].Transactions of the Chinese Society for Agricultural Machinery,2011,42(7):204-209.(in Chinese)
[21]孟志军,赵春江,刘卉,等.基于处方图的变量施肥作业系统设计与实现[J].江苏大学学报(自然科学版),2009,30(4):338-342.MENG Zhijun,ZHAO Chunjiang,LIU Hui,et al.Development and performance assessment of map-based variable rate granule application system[J].Journal of Jiangsu University(Natural Science Edition),2009,30(4):338-342.(in Chinese)