旋转式钵苗栽植机构多目标参数优化与试验

Multi-objective Parameter Optimization and Experiment of Rotary Seedling Planting Mechanism

为了方便快捷地得到旋转式钵苗栽植机构的最佳参数,提出了旋转式钵苗栽植机构作业时实现理想栽植应满足的条件,包括栽植嘴运动学特性(轨迹、姿态、速度)、挖出穴口的几何特性、栽植机构避免干涉和非圆齿轮的保凸性要求。根据这些要求,以偏心-椭圆齿轮行星轮系栽植机构为研究对象,建立其11个子目标函数,并应用模糊理论,将多目标优化问题转化为单目标优化问题进行求解,得到满足理想栽植要求的参数,然后进行结构设计、虚拟仿真、试验台加工和模拟田间栽植试验,验证了该栽植机构的高立苗率和优化模型的正确性。该优化模型的建立和求解克服了栽植机构传统参数设计时采用仿真软件进行试凑的缺点,提高了优化效率。

In order to get the best parameters of rotary seedling planting mechanism quickly and easily, this paper proposes the requirements of rotary seedling planting mechanism for prefect planting, such as kinematics （trajectory, pose and speed） characteristics of planting nozzle, geometrical characteristics of holes, avoidance of interference and convexity preservation of non-circular gears. According to these requirements, this paper establishes eleven subgoal functions of planting mechanism with planetary eccentric-elliptical gears. By using fuzzy theory, the multi-objective optimization problem was turned into a single objective optimization problem. Then, the parameters satisfied the above perfect requirements were got. According to the parameters which were obtained with optimization, this paper carries out structural design, virtual simulation, test bed machining and the experimental simulation of field planting. The result shows that this mechanism has high seedling erectness rate and the optimization model is correct. The proposed optimization model conquered the defect of trial and error that the simulation software has in the process of parameter design for planting mechanism, improved the optimization efficiency and reduced the demands for people who implement the optimization of parameters.