高速插秧机横向仿形插深自适应系统的开发

Development of Transplant Depth Self-adaptive Control System Based on Transversely Profile Modeling in High Speed Transplanter

为解决高速水稻插秧机在农田作业时,插秧盘随水田表面横向起伏导致秧苗插植深度不一致的问题,开展了基于插秧机插植部倾角检测的秧苗插深自适应调节系统的研究与开发。通过角度位移传感器实时检测两浮板相对位置的变化,由数据采集及插深控制单元控制步进电机装置输出,通过动力传输机构来改变整个秧盘的横向侧倾角度,使秧盘与浮板保持一个稳定的相对位置关系,从而达到稳定插秧深度的目的。插秧机仿真实验平台上的静动态实验分析表明,该系统具有良好的控制精度,工作稳定可靠,可以满足农田插秧实际工作的要求,但需要进一步开展大量农田现场实验,在实际工况中对系统的实用性和稳定性进行分析,从而提升系统的工作性能。

In order to resolve problem of different transplant depth of seedling owing to transplant unit transversely fluctuating with soil surface when high speed transplanter was working in paddy field,we developed the self-adaptive adjusting system of seedling transplant depth which was based on detecting slope angle of the transplant component.The angle displacement sensor was used to make real-time detection for relative position change of two floating boards,then the unit of data acquiring and transplant depth controlling sent controlling commands to stepping motor to change transverse slope angle of whole transplant unit,for keeping a steady relative position between transplant unit and two floating boards,so that we can realize the purpose of preserving transplant depth.Many static and dynamic experiments in transplanter simulation test-bed showed that this system has good controlling precision and nice stabilization,consequently meet the working demand of transplanter in paddy field.However,more testing experiments in farm are needed to analyze practicability and stabilization of this system in practice working condition,for improving system performance ulteriorly.