何杰,朱金光,张智刚,罗锡文,高阳,胡炼.水稻插秧机自动作业系统设计与试验[J].农业机械学报,2019,50(3):17-24.
HE Jie,ZHU Jinguang,ZHANG Zhigang,LUO Xiwen,GAO Yang,HU Lian.Design and Experiment of Automatic Operation System for Rice Transplanter[J].Transactions of the Chinese Society for Agricultural Machinery,2019,50(3):17-24.
摘要点击次数: 2420
全文下载次数: 1267
水稻插秧机自动作业系统设计与试验   [下载全文]
Design and Experiment of Automatic Operation System for Rice Transplanter   [Download Pdf][in English]
投稿时间:2019-01-27  
DOI:10.6041/j.issn.1000-1298.2019.03.002
中文关键词:  水稻插秧机  自动作业  自动导航  控制策略  设计  试验
基金项目:国家重点研发计划项目(2017YFD0700404)和广东省科技计划项目(2016B020205003)
作者单位
何杰 华南农业大学 
朱金光 雷沃重工股份有限公司 
张智刚 华南农业大学 
罗锡文 华南农业大学 
高阳 华南农业大学 
胡炼 华南农业大学 
中文摘要:为适应现代农机自动作业发展需求,实现插植作业和速度的自动控制,设计了水稻插秧机自动作业系统。以井关PZ-60型水稻插秧机为试验平台,研究了具有CAN(Controller area network)通信接口和手动优先的手自一体插秧机速度与插植机构控制方案,设计了插秧机专家PID速度控制算法和PID插值机构控制算法以及插秧机自动作业联合控制策略。联合导航控制系统分别在水泥路面、泥底层平坦和不平坦的水田进行了速度控制试验,结果表明,速度平均误差分别为3.25%、5.40%和8.01%,速度平均误差不超过10%的概率分别为98.6%、90.1%和68.0%;泥底层平坦水田联合控制试验结果表明,插秧机联合控制与人工操作相当,效果良好。插秧机自动作业系统满足插秧机在无人驾驶时自动作业的需求。
HE Jie  ZHU Jinguang  ZHANG Zhigang  LUO Xiwen  GAO Yang  HU Lian
South China Agricultural University,Lovol Heavy Industry Co., Ltd.,South China Agricultural University,South China Agricultural University,South China Agricultural University and South China Agricultural University
Key Words:rice transplanter  automatic operation  automatic navigation  control strategy  design  experiment
Abstract:In order to meet the development demands of modern agricultural machinery automatic operation, the rice transplanter automatic operation system was designed to realize the automatic control of transplanting operation and driving speed. Taking the Iseki PZ-60 rice transplanter as the research platform, the automatic manual integration control scheme with manual mode priority was designed for transplanting components and driving speed based on the controller area network (CAN) communication. Accordingly, the incremental proportional,integral and differential (PID) as well as expert PID algorithm were designed respectively aiming at the speed and transplanting control. Meanwhile, the combined control strategy for the auto operating transplanter was developed. Afterwards, the speed control effect of the proposed navigation control system was tested on the cement road and two kinds of paddy field each with flat bottom layer and uneven bottom layer respectively. The results showed that the average errors of speed control were 3.25%, 5.40% and 8.01%, respectively, the probability of the speed errors which was within 10% were 98.6%, 90.1% and 68.0%, respectively. A kind of paddy field with flat bottom layer was selected to conduct the combined control experiments. The results showed that the automatic combined operation control of the transplanter had approximately the same effect with that operated manually. The results indicated that the developed automatic operation system of the transplanter can meet the automatic operation requirements of the unmanned transplanter.

Transactions of the Chinese Society for Agriculture Machinery (CSAM), in charged of China Association for Science and Technology (CAST), sponsored by CSAM and Chinese Academy of Agricultural Mechanization Science(CAAMS), started publication in 1957. It is the earliest interdisciplinary journal in Chinese which combines agricultural and engineering. It always closely grasps the development direction of agriculture engineering disciplines and the published papers represent the highest academic level of agriculture engineering in China. Currently, nearly 8,000 papers have been already published. There are around 3,000 papers contributed to the journal each year, but only around 600 of them will be accepted. Transactions of CSAM focuses on a wide range of agricultural machinery, irrigation, electronics, robotics, agro-products engineering, biological energy, agricultural structures and environment and more. Subjects in Transactions of the CSAM have been embodied by many internationally well-known index systems, such as: EI Compendex, CA, CSA, etc.

   下载PDF阅读器