水稻精量施肥喷药同步机插控制系统的设计与试验

Design and Experiment of Synchronous Machine Insertion Control System for Precise Fertilization and Spraying of Rice

研究了一种水稻精量侧深施肥、喷药除草同步机插控制系统,以单片机STM32为控制核心硬件,基于FreeRTOS多线程任务,获取插秧机的作业速度,根据插秧施肥、喷药除草的农艺措施要求,确定同步作业数据模型,控制螺旋施肥电机和喷药泵电机的转速,实现施肥量和喷药量与插秧的实时调控,同时开展了不同作业速度、施肥和喷药量条件下的控制系统静态试验。结果表明:各行排肥量稳定性变异系数为1.94%~6.46%,总排肥量稳定性变异系数为3.34%~5.27%,各行喷药量稳定性变异系数为5.21%~7.63%,控制系统性能稳定;田间试验结果表明,施肥准确率为97.61%,喷药准确率为94.47%,能够满足水稻精量侧深施肥和喷药除草同步机插的技术要求;与常规机插种植相比,作业35 d后的杂草防效均在98.00%以上;在减少20%氮肥量、50%除草剂的情况下,能确保水稻产量,提高水稻种植效益。

This article designed a synchronous machine insertion control system for precision side deep fertilization and pesticide spray cultivation of rice.Based on FreeRTOS multi-thread task,STM32 MCU was used to acquire the operation speed of rice transplanter.According to the agronomic requirements of transplanting and fertilizing,spraying and weed control,the synchronous operation data model was determined.Then,the rotation speed of spiral fertilization motor and spraying pump motor was controlled to realize the real-time control of fertilization amount,spraying amount and transplanting.The static test of the control system was carried out under different operation speed,fertilization and spraying quantity.The results showed that the stability coefficient of variation of each line fertilization amount was 1.94%~6.46%,the total fertilization amount was 3.34%~5.27%,and each line spray amount was 5.21%~7.63%,which showed that the performance of the control system was stable.In the field experiment,the results showed that the accuracy of fertilization amount and spray amount was 97.61%and 94.47%,respectively,which could meet the operation requirements of precision side deep fertilization and synchronous machine insertion of spraying and weed control.Compared with conventional machine planting,the weed control efficiency was more than 98.00%after 35 d operation.Even if the nitrogen fertilizer amount is reduced by 20%and the herbicide amount is reduced by 50%,the rice yield can be guaranteed,and the rice planting income can be effectively increased.