基于播种单体限深臂压力和角度的播深智能控制系统

An Intelligent Control System for Seeding Depth Based on the Pressure and Angle of the Depth-limiting Arm of the Seeding Unit

为了提高农作物播种深度的稳定性和一致性,进而提高农作物的产量,设计一套以限深臂对限深块的作用力和限深臂摆动角度为监测对象获取播深信息,以电动推杆为执行元件调节单体上下摆幅的基于力反馈式播深智能调节系统。通过对限深臂、四连杆处进行力学分析,确定了压力传感器和电动推杆的量程。针对电动推杆工作中存在误差的问题,采用Mamdani模糊算法建立智能调节模型,对电动推杆的控制进行优化。静态试验表明:在控制系统中添加Mamdani模糊控制算法,误差峰值的校正达到75.6%,播种深度的控制误差降低了60%。

In order to improve the stability and consistency of the planting depth of crops,and thus increase the yield of crops,a set of monitoring objects is designed,which takes the force of the depth-limiting arm on the depth-limiting block and the swing angle of the depth-limiting arm,and obtains the seeding depth information.The electric push rod is used as the executive element to adjust the up and down swing of the monomer.An intelligent adjustment system based on force feedback is studied.Through the mechanical analysis of the depth limit arm and the four-bar linkage,the range of the pressure sensor and the electric push rod is determined.Aiming at the problem of error in the operation of the electric push rod,the Mamdani fuzzy algorithm is used to establish an intelligent adjustment model to optimize the control of the electric push rod.The static test shows that adding the Mamdani fuzzy control algorithm to the control system can correct the peak value error of 75.6%,the control error of the seeding depth is reduced by 60%.