基于压力稳定与限深减振的双调控免耕播种单体控制系统设计与试验
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国家重点研发计划项目(2024YFD1500405)


Design and Experiment of Dual-regulation Control System for No-tillage Seeding Units Based on Pressure Stabilization and Depth-limiting Vibration Reduction
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    摘要:

    针对免耕播种单体在高速作业下单体振动影响播种质量的问题,本文设计了一种基于压力稳定控制和开沟限深减振控制的双调控减振免耕播种单体,通过融合倾角传感器、轴销压力传感器、角度传感器数据,对仿形机构仿形角度、下压液压缸推力及限深轮支臂旋转角度进行实时检测,实现了下压液压缸压力和减振液压缸位移闭环调控,通过下压液压缸压力稳定输出和减振液压缸限制单体碰撞,降低了免耕播种单体振动,实现了下压力和播深主动调节。通过AMESim和Simulink软件建立了基于液压控制的双调控减振控制耦合仿真模型,仿真试验结果表明,PID控制、模糊PID控制和滑模控制对于下压液压缸压力控制性能相近;但滑模控制对于减振液压缸位移控制,较常规PID控制和模糊PID控制,最大超调量分别减小5.56、2.01个百分点,稳态时间分别缩短1.27、1.45s。搭建了免耕播种单体双调控减振测试台,建立了融合仿形倾角、压力的播种下压力测量模型,开展双调减振控制模型试验。试验结果表明,在不同油液压力和四连杆仿形倾角设置下,决定系数为0.94463,校正决定系数为0.93819,对播种下压力具有较好的控制准确性。研究结果为免耕播种单体减振控制提供了理论基础。

    Abstract:

    Aiming to address the issue that high-speed operation induces excessive vibrations of no-till seeding units, thereby deteriorating seeding quality, a dual-regulation vibration-reduction no-till seeding unit was developed based on downforce stabilization control and furrow-depth attenuation control. By integrating multiple sensors, including an inclinometer, a pin-shaft force sensor, and an angular displacement sensor, the system enabled real-time acquisition of the profiling angle, downforce cylinder thrust, and depth-limiting wheel arm rotation. Consequently, closed-loop regulation of the downforce hydraulic cylinder pressure and the damping cylinder displacement was achieved. Stable downforce output and impact-limiting damping control effectively suppressed unit vibration, enabling active regulation of downforce and seeding depth. A coupled co-simulation model of the dual-regulation hydraulic control system was constructed by using AMESim and Simulink. Simulation results indicated that PID, fuzzy-PID, and sliding-mode control (SMC) exhibited comparable performance in regulating the downforce cylinder force. However, for damping-cylinder displacement control, SMC demonstrated clear advantages over conventional PID and fuzzy-PID control, reducing the maximum overshoot by 5.56 percentage points and 2.01 percentage points, and shortening the settling time by 1.27s and 1.45s, respectively. A dual-regulation vibration-reduction test bench for the no-till seeding unit was built, and a downforce measurement model integrating profiling angle and hydraulic pressure was established. Experimental validation of the proposed control strategy showed that under different hydraulic pressures and four-bar linkage inclination settings, the coefficient of determination reached 0.94463 with an adjusted value of 0.93819, demonstrating high control accuracy of the seeding downforce. The findings can provide a theoretical foundation for vibration-reduction control of no-till seeding units.

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贺栋,王超,曹鑫鹏,王庆杰,李洪文,卢彩云,何进,贾麟,吴正阳.基于压力稳定与限深减振的双调控免耕播种单体控制系统设计与试验[J].农业机械学报,2026,57(4):19-27,49. HE Dong, WANG Chao, CAO Xinpeng, WANG Qingjie, LI Hongwen, LU Caiyun, HE Jin, JIA Lin, WU Zhengyang. Design and Experiment of Dual-regulation Control System for No-tillage Seeding Units Based on Pressure Stabilization and Depth-limiting Vibration Reduction[J]. Transactions of the Chinese Society for Agricultural Machinery,2026,57(4):19-27,49.

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  • 收稿日期:2025-10-22
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  • 在线发布日期: 2026-02-15
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