水稻插秧机自动作业系统设计与试验

Design and Experiment of Automatic Operation System for Rice Transplanter

为适应现代农机自动作业发展需求,实现插植作业和速度的自动控制,设计了水稻插秧机自动作业系统。以井关PZ-60型水稻插秧机为试验平台,研究了具有CAN(Controller area network)通信接口和手动优先的手自一体插秧机速度与插植机构控制方案,设计了插秧机专家PID速度控制算法和PID插值机构控制算法以及插秧机自动作业联合控制策略。联合导航控制系统分别在水泥路面、泥底层平坦和不平坦的水田进行了速度控制试验,结果表明,速度平均误差分别为3. 25%、5. 40%和8. 01%,速度平均误差不超过10%的概率分别为98. 6%、90. 1%和68. 0%;泥底层平坦水田联合控制试验结果表明,插秧机联合控制与人工操作相当,效果良好。插秧机自动作业系统满足插秧机在无人驾驶时自动作业的需求。

In order to meet the development demands of modern agricultural machinery automatic operation,the rice transplanter automatic operation system was designed to realize the automatic control of transplanting operation and driving speed.Taking the Iseki PZ-60 rice transplanter as the research platform,the automatic-manual integration control scheme with manual mode priority was designed for transplanting components and driving speed based on the controller area network(CAN)communication.Accordingly,the incremental proportional,integral and differential(PID)as well as expert PID algorithm were designed respectively aiming at the speed and transplanting control.Meanwhile,the combined control strategy for the auto-operating transplanter was developed.Afterwards,the speed control effect of the proposed navigation control system was tested on the cement road and two kinds of paddy field each with flat bottom layer and uneven bottom layer respectively.The results showed that the average errors of speed control were 3.25%,5.40%and 8.01%,respectively,the probability of the speed errors which was within 10%were 98.6%,90.1%and 68.0%,respectively.A kind of paddy field with flat bottom layer was selected to conduct the combined control experiments.The results showed that the automatic combined operation control of the transplanter had approximately the same effect with that operated manually.The results indicated that the developed automatic operation system of the transplanter can meet the automatic operation requirements of the unmanned transplanter.