农业机械学报2023，Vol.54Issue(z1)：93-102,10.DOI:10.6041/j.issn.1000-1298.2023.S1.011
基于自适应模糊PID的小麦播深控制系统研究
Sowing Depth Control System of Wheat Planter Based on Adaptive Fuzzy PID
摘要
Abstract
In view of the present wheat seeder in complex field exists in the process of deep consistency and stability is difficult to control,through adjust the volume of overburden soil from aspects determine wheat sowing depth control perspective,a fuzzy PID control method was proposed based on sowing depth feedback,the designed wheat seeder sowing depth control system had high precision,which realized the automatic control of sowing depth,and the uniformity of sowing depth of wheat was ensured.The system was mainly composed of four parts:vehicle terminal,sowing depth detection module,pre sowing suppression roller detection module and pre sowing suppression roller adjustment mechanism,which can realize real-time sowing depth detection and adjustment of wheat sowing machine.The real-time sowing depth was obtained through the sowing depth detection module and used as feedback input.Combined with the preset sowing depth value,PID parameters were adjusted online according to the expert fuzzy rule and Mamdani reasoning method to obtain the control output.The driver was controlled to adjust the position of the suppression roll before sowing and the amount of soil cover during the operation constantly,so as to achieve real-time and accurate control of sowing depth and ensure consistency of sowing depth.The results of field experiment showed that the sowing depth fluctuated in a small range during the sowing operation.When the sowing depth was set to be 30 mm,the average sowing depth was 30.13 mm,planter speed was 3～5 km/h,the standard deviation of sowing depth was 0.18 mm,the average passing rate of sowing depth was 93％,and the mean coefficient of variation of sowing depth was 2.93％.The system realized real-time adaptive control of uniform sowing depth of wheat planter.关键词
小麦播种机/播深/控制系统/模糊PID/播深检测模块Key words
wheat planter/sowing depth/control system/fuzzy PID/sowing depth detection module分类
农业科技引用本文复制引用
薛冰,周利明,牛康,郑元坤,白圣贺,隗立昂..基于自适应模糊PID的小麦播深控制系统研究[J].农业机械学报,2023,54(z1):93-102,10.基金项目
国家重点研发计划项目(2022YFD2001502) （2022YFD2001502）
