农业机械学报2024，Vol.55Issue(9)：65-74,10.DOI:10.6041/j.issn.1000-1298.2024.09.005
基于RTK测速的油菜直播机随速可控可调排种控制系统研究
Variable-rate Seeding Control System Based on RTK Speed Measurement for Rapeseed Direct Seeder
摘要
Abstract
A precision rapeseed seeder with continuous operation often faces the problem of inconsistent sowing quantity with the target seeding rate due to fluctuations in operating speed.To address this issue,a control system for precise rapeseed seeder,based on"RTK speed measurement+seed drop detection+real-time motor control,"was designed.Key parameters affecting the speed control performance were analyzed,and a stepper motor speed control model was established.Static speed drift tests were conducted by using the ZED-F9P GNSS module with the GNSSToolKitLite software.The analysis determined that the static speed drift of the module followed a normal distribution with a mean of 0.054 m/s and a variance of 0.029 m2/s2.The performance tests with an automatic seed particle counter and the JPZS-16 seeding performance test bench determined that the average absolute error between the seeding quantity detection value of the positive and negative pressure seeders and the actual value was less than 10％when the rotation speed was ranged from 5 r/min to 60 r/min.The speed control models for different seeders were determined through bench tests,and the functional relationship between the optimal operating speed range of different seeders and the motor speed with the target seeding rate was analyzed.The adaptability bench tests for different seeders demonstrated that when the operating speed was ranged from 3 km/h to 12 km/h,the total displacement coefficient of variation for the system equipped with a high-speed mechanical centrifugal seeder and a combined air-assisted seeder for rapeseed and wheat was less than 1.21％.Field tests showed that when the operating speed was ranged from 5 km/h to 12 km/h,the total displacement coefficient of variation for the system equipped with a high-speed mechanical centrifugal seeder and a furrow press wheel seeder was less than 9.7％,meeting the requirements of variable-rate seeding.This system can serve as a reference for improving the structure of precision rapeseed seeding control systems.关键词
油菜直播机/控制系统/可控可调/播量调控/RTK测速原理Key words
rapeseed direct seeder/control system/controlable and adjustable/seeding rate adjustment/RTK speed measurement分类
农业科技引用本文复制引用
廖庆喜,罗湛程,杨恒,李蒙良,沈文惠,王磊..基于RTK测速的油菜直播机随速可控可调排种控制系统研究[J].农业机械学报,2024,55(9):65-74,10.基金项目
国家重点研发计划项目(2021YFD20004)和财政部和农业农村部:国家现代农业产业技术体系项目(CASR-12) （2021YFD20004）
