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基于PID算法的水稻直播机播量控制系统的设计与试验

赵天才, 余洪锋, 郝向泽, 何丽楠, 何瑞银, 李询, 窦祥林

赵天才, 余洪锋, 郝向泽, 等. 基于PID算法的水稻直播机播量控制系统的设计与试验[J]. 华南农业大学学报, 2019, 40(2): 118-125. DOI: 10.7671/j.issn.1001-411X.201805007
引用本文: 赵天才, 余洪锋, 郝向泽, 等. 基于PID算法的水稻直播机播量控制系统的设计与试验[J]. 华南农业大学学报, 2019, 40(2): 118-125. DOI: 10.7671/j.issn.1001-411X.201805007
ZHAO Tiancai, YU Hongfeng, HAO Xiangze, et al. Design and experiment of sowing control system for rice direct seeder based on PID algorithm[J]. Journal of South China Agricultural University, 2019, 40(2): 118-125. DOI: 10.7671/j.issn.1001-411X.201805007
Citation: ZHAO Tiancai, YU Hongfeng, HAO Xiangze, et al. Design and experiment of sowing control system for rice direct seeder based on PID algorithm[J]. Journal of South China Agricultural University, 2019, 40(2): 118-125. DOI: 10.7671/j.issn.1001-411X.201805007

基于PID算法的水稻直播机播量控制系统的设计与试验

基金项目: 国家重点研发计划项目(2016YFD0300908);苏北科技专项(BN2015042)
详细信息
    作者简介:

    赵天才(1994—),男,硕士研究生,E-mail: TCZHMr@163.com

    通讯作者:

    何瑞银(1964—),男,教授,博士,E-mail: ryhe@njau.edu.cn.

  • 中图分类号: S223.2

Design and experiment of sowing control system for rice direct seeder based on PID algorithm

  • 摘要:
    目的 

    为了解决现有的机械式水稻直播机镇压轮传动播种导致的漏播以及播量无法同步均匀调节的问题,实现水稻直播机播量自动精准调节。

    方法 

    对现有苏南地区传统机械式水稻直播机进行自动化改造,设计了基于PID调速算法的水稻直播机播量控制系统。该系统在田间播种作业时,由设计的测速轮采集机具作业速度,结合设定的目标播种量和机具作业速度,依据播量控制策略得到排种轴理论转速;利用PID调速算法和编码器测到的排种轴反馈转速对直流电机进行闭环控制,可在线无极调节播量,从而实现精准播种。

    结果 

    该系统排种电机空载时转速调整时间小于0.63 s,最大超调量8.21%,施加12.5 N·m负载时,排种电机最长回调时间为0.32 s。目标设计播量对应转速范围内,转速控制误差最大值小于7.21%,转速误差小于5.21%,田间播量误差小于4.92%。田间车速阶梯变化时,排种转速跟随响应及时,具有较高的排种同步性,与传统机械式水稻直播机相比播量调节性能显著提高。

    结论 

    该系统自动化改造简便,重点改进了播量调节机构,提高了传统播种机播种性能,对传统机械直播机具有较高适配性。

    Abstract:
    Objective 

    In order to solve the problem of the missed sowing and the uniform adjustment for sowing amount by the driven wheel existing in traditional mechanical rice direct seeder, and realize automatic and precise adjustment to the sowing amount of rice direct seeder.

    Method 

    A traditional mechanical rice direct seeder, commonly used in the Southern Jiangsu area, was modified by incorporating an automatic seeding control system based on the PID speed control algorithm. During sowing, the working speed of implement was obtained by the designed speedometer. The theoretical rotational speed of sorting shaft was obtained according to sowing control strategy combining the set target sowing amount with the operational speed. The measured feedback speed of seeding axis closed the control loop of the DC motor using a PID speed regulation algorithm and an encoder, which could be adjusted on-line to achieve accurate seeding.

    Result 

    The speed adjustment time of seeding motor without load was less than 0.63 s and the maximum overshoot was 8.21%. The longest time for the motors to be recharged was 0.32 s when a load of 12.5 N·m was applied to the device. For the target sowing amount, the maximum value of speed control error was less than 7.21%, speed error was less than 5.21%, and sowing amount error in field was less than 4.92%. When field speed of vehicle varied in step, the seeding speed responded in time and the vehicle had a higher seeding synchronization. The seeding adjustment performance was significantly improved using the automatic release meter compared with the conventional direct seeder.

    Conclusion 

    The automation transformation of this system is easy, which focuses on improving the adjustment mechanism of sowing amount, improves the sowing performance of traditional seeder, and has a high adaptability to traditional rice direct seeder machine.

  • 图  1   控制原理结构图

    Figure  1.   Schematic diagram of control principle

    图  2   播种机结构图

    Figure  2.   Seeder structure diagram

    图  3   控制系统硬件结构框图

    Figure  3.   Hardware structure diagram of control system

    图  4   控制系统原理图

    Figure  4.   The circuit diagram of control system

    图  5   直流电机驱动电路图

    Figure  5.   Driving circuit diagram of DC motor

    图  6   人机交互电路图

    Figure  6.   Circuit diagram of human-computer interaction

    图  7   PID控制系统结构图

    Figure  7.   Structure diagram of PID control system

    图  8   不同目标转速下电机空载转速响应曲线

    Figure  8.   The response curve of motor velocity without load under different target speeds

    图  9   施加不同负载的电机转速曲线

    Figure  9.   The curve of motor speed under different loads

    图  10   负载性能试验台

    Figure  10.   Test platform of load performance

    图  11   田间试验图

    Figure  11.   Field experiment chart

    图  12   排种车速同步跟随图

    Figure  12.   Synchronization follow map of seeding speed

    表  1   空载响应试验数据

    Table  1   The experimental data of no-load response

    转速/(r·min–1)
    Speed
    超调量/%
    Overshoot
    峰值时间/s
    Peak time
    调整时间/s
    Adjusted time
    20 7.66 0.24 0.38
    30 8.02 0.29 0.54
    40 8.21 0.33 0.63
    下载: 导出CSV

    表  2   田间土壤状况

    Table  2   Soil condition in field

    土壤深度/cm
    Soil depth
    容重/(g·cm−1)
    Density
    含水率(w)/%
    Water content
    坚实度/MPa
    Firmness
    0~5 1.32 23.41 0.43
    5~10 1.45 20.26 0.86
    10~15 1.53 18.96 1.23
    下载: 导出CSV

    表  3   不同目标播量下田间试验的控制精度

    Table  3   Control accuracy of speed and seeding amount in field under different target seeding amounts

    播量/(g·m−2)
    Seeding amount
    机具车速/(m·s−1)
    Vehicle speed
    转速最大误差/%
    Max. speed error
    转速误差均值/%
    Average speed error
    播量误差/%
    Seeding amount error
    7.50 0.8 6.73 4.67 3.86
    1.2 4.96 3.62 3.91
    1.6 4.13 2.74 3.66
    11.25 0.8 6.59 4.92 3.25
    1.2 5.81 3.83 2.76
    1.6 5.34 2.32 2.12
    15.00 7.21 5.21 3.96 7.21
    5.68 3.54 2.52 5.68
    4.08 1.63 1.04 4.08
    下载: 导出CSV
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出版历程
  • 收稿日期:  2018-05-09
  • 网络出版日期:  2023-05-17
  • 刊出日期:  2019-03-09

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