小麦播种机播量控制参数自校正方法
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国家重点研发计划项目(2016YFD070030403)和江苏省信息农业重点实验室项目(KLIAKF1901)


Self-correcting Method for Application Rate Control Parameters of Wheat Seed Drill Machine
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    摘要:

    针对传统外槽轮式播量控制系统因流量-转速标定关系失偏而导致控制精度下降的问题,提出了一种通过动态校正控制参数保持播量控制精度的方法,该方法采用基于氮气弹簧为支撑力、S型称重传感器为拉力的称重式播量检测系统,利用两类传感器加权信号与实际播量方程的线性组合实现原始传感信号滤波的独特测量特性,构建播量检测算法,并根据播量动态检测结果对基于流量-转速标定关系的控制参数作动态校正,实现播量的本质闭环控制,保持控制精度的稳定。利用搭建的播种机测试平台,开展了基于播量检测的播量控制参数未校正和自校正动态试验。在所有的测试过程中,播量检测结果与实际结果之间的绝对相对偏差最大值、平均值和标准差分别为4.52%、2.68%和1.14%;播量控制参数未校正时,实际值与目标值之间的绝对相对偏差最大值、平均值和标准差分别为18.38%、17.06%和1.21%,而引入控制参数自校正后,实际值和目标值之间的绝对相对偏差的最大值和平均值分别下降至3.70%和2.61%,标准差为0.67%。试验结果表明:基于加权信号的播量检测方法能有效获取播种机的实际播量信息,实现播量控制参数自校正,有效维持播量控制系统的控制精度。

    Abstract:

    An application rate detection method was proposed based on a special dynamic weighing system where the nitrogen springs through pressure sensors provided the total supporting force and gave rise to the pulling force change of the S-type weighing sensors with the weight change of the material (wheat seed) inside the box. The unique measurement characteristics of the detection system was that the linear combination of the weighted sum of the two types of sensors and the actual application rate equation can filter the original signal of the sensors. The application rate detection method was found based on the measurement characteristics and applied to the application rate control of a seed drill machine with fluted rollers, with the control parameters self-corrected, which made the seed drill machine with fluted rollers realized the substantial closed-loop control of the application rate and ensured continuously high control accuracy. Using the seed drill machine with 6 of 24 fluted rollers were blocked, two types of tests for controlling the application rate, with and without the application of self-correcting control parameters, were carried out. During all the tests, the maximum, average and standard deviation of the absolute relative error between the measured value and the actual value were 4.52%, 2.68% and 1.14%, respectively. While the corresponding statistic data between the actual value and the target value were 18.38%, 17.06% and 1.21%, respectively without control parameters being self-corrected. And the corresponding data were improved to 3.70%, 2.61% and 0.67% after introducing the control parameter self-correcting. The test results showed that the application rate measurement method can effectively measure the application rate of the seed drill machine and can be applied to self-correcting control parameters and holding high control accuracy.

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丁永前,陈冲,余洪锋,张洪达,窦祥林,刘卓.小麦播种机播量控制参数自校正方法[J].农业机械学报,2023,54(4):31-37. DING Yongqian, CHEN Chong, YU Hongfeng, ZHANG Hongda, DOU Xianglin, LIU Zhuo. Self-correcting Method for Application Rate Control Parameters of Wheat Seed Drill Machine[J]. Transactions of the Chinese Society for Agricultural Machinery,2023,54(4):31-37.

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  • 收稿日期:2022-07-01
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  • 在线发布日期: 2022-08-01
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