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玉米变量播种机单体驱动器的设计 被引量:27

Design of row-unit driver for maize variable rate planter
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摘要 国内电驱式玉米精量播种机所用电机驱动器和各类监测传感器大都直接连接在主控制器上,功能单一、播种行数难以拓展,无法满足变量播种作业对各个播种单体独立控制的要求。针对上述问题,搭建了基于STM32F103的单体驱动器硬件和软件架构,实现了排种器驱动电机的平稳驱动、转速调节、过流保护以及合格率、重播率、漏播率的播种质量检测;单体驱动器集成了CAN总线通讯模块,可通过增减单体驱动器便捷地实现播种机行数拓展。系统整体试验表明,单体驱动器和主控制器可以通过CAN总线完成转速指令和播种质量数据的交互;当作业速度在3~9 km/h之间时,单体驱动器驱动排种器播种合格率大于95.7%,重播率小于4.3%,漏播率小于1.4%,高于国标要求;播种质量检测模块与现有排种器性能检测仪的对比试验结果显示,在3km/h的作业速度,两者的检测结果最大差值为0.1个百分点,当前进速度逐渐上升时,两者的偏差逐渐增大,单体驱动器测得的3项指标都小于排种器检测仪,但在不同的速度梯度下,两者合格率相差不超过2个百分点,重播率不超过1.1个百分点,漏播率不超过0.9个百分点。综合而言,单体驱动器的整体功能良好。 Most of the motor drivers and monitoring sensors used in domestic electric drive precision maize planter are directly connected to the main controller.It’s difficult to expand the number of sowing rows and cannot meet the requirements of variable sowing operation for independent control of each single sowing unit.In order to reduce the coupling of the control system and alleviate the calculation pressure of the main controller,a hardware structure of row-unit controller based on STM32 F103 was built,including motor drive circuit and seed quality detection circuit.The P-N 3-phase full-bridge BLDC(brushless direct current)motor drive circuit was based on FAN3278,which could regulate the rotate speed and prevent overload.The seed quality detection circuit was based on photoelectric sensor,which could realize photoelectric isolation and shaping of the sensor signal.The results of signal integrity test indicated that ripple voltage reduced 46.5%,signal transmission of each module was stable and working logic was reasonable.Moreover,a software architecture of the row-unit controller was constructed,the core algorithm included BLDC motor driving program and seed quality detection program was designed.A PID closed-loop control algorithm was used for BLDC motor driver to overcome the shortcomings of open-loop control.The final tuned PID parameter values:Proportional constant was 0.000 04,integration constant was 0.000 3,differential constant was 0.000 01.The results of no-load starting test on BLDC motor indicated that:within a set speed range of 300-1 800 r/min,the max rise time was 0.4 s and the maximum overshoot was 1.56%on the speed response curve,the start performance met the requirement and speed of motor was improved.The data exchanged between the row-unit driver and the main controller via the CAN bus.The overall test results of the row-unit driver confirmed that it could realize the function of the seed metering driving,the seeding quality detection,and CAN communication with the main controller.The performance test results of seed metering device driving showed that the qualified index was more than 95.7%,the multiple index was less than 4.3%,and the miss index was less than 1.4%when forward speed was 3-9 km/h,which was higher than the national standard GB/T 6973-2005 requirement.The comparison test between the designed single unit driver and seed meter detector for performance evaluation revealed that the detection results were basically coincident.The maximum difference of precision index was only 0.1 percentage points when the speed was 3 km/h.The difference of the qualified index between the seed meter detector and the single unit driver was no more than 2 percentage points,the multiple index was no more than 1.1 percentage points,and the miss index was no more than 0.9 percentage points under different speed gradients.To sum up,the performance of the developed row-unit driver is applicable,and it can be applied in variable rate seeding.
作者 丁友强 杨丽 张东兴 崔涛 张凯良 王满涛 Ding Youqiang;Yang Li;Zhang Dongxing;Cui Tao;Zhang Kailiang;Wang Mantao(College of Engineering,China Agricultural University,Beijing 100083,China;Key Laboratory of Soil-Machine-Plant System Technology of Ministry of Agriculture,Beijing 100083,China)
出处 《农业工程学报》 EI CAS CSCD 北大核心 2019年第11期1-9,共9页 Transactions of the Chinese Society of Agricultural Engineering
基金 十三五国家重点研发计划“精量播种技术装备研发”(NO.2017YFD0700703) 国家自然科学基金资助项目(51575515) 国家玉米产业技术体系建设项目(CARS-02)
关键词 机械化 设计 控制 变量播种 播种质量检测 单体驱动器 CAN总线 mechanization design control variable rate seeding seeding quality inspection row-unit driver CAN bus
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