温室株间电驱锄草机控制系统设计与试验

Control System for Electric Drive Intra-row Weeding

根据温室机械锄草的需要,针对电驱锄草机械设计了一种圆盘锄刀株间锄草控制系统。该系统以MC9S12DG128双核单片机为硬件核心,融合霍尔传感器、旋转编码器的信号实时输入,通过RS232串口中断实时接收上位机(PC)视觉信息,采用CAN总线与下位机(电动机驱动器)实时通信,对圆盘锄刀转速与转角进行实时控制,从而实现株间锄草和避苗。温室大棚内锄草试验结果表明,前进速度为1.2 km/h时,伤苗率小于10%。

According to the demand of mechanized weeding in greenhouse, an intra-row weeding control system with disc-hoe was designed for electric drive weeding machine. The system, with the MC9S12DG128 binuclear MCU at its core, was composed of three Hall sensors and one rotary encoder, signals of which were real-time input into the MCU. The MCU received real-time visual signal of upper computer （PC） through RS232 serial port, and had a real-time communication with lower computer （motor drivers） via CAN bus. With the real-time control of rotation rate and rotation angle of disc-hoe, the control system realized intra-row weeding and seedling avoidance. The experimental machine included three disc-hoe units, and one land wheel on either side. Then the machine was connected to a tractor by a previa three-point suspension. The test results in greenhouse showed that the wounded seedling rate was within 10% , when the forward speed was about 1.2 km/h.