农业机械学报2025，Vol.56Issue(5)：59-70,12.DOI:10.6041/j.issn.1000-1298.2025.05.006
基于雷达测速的棉花精量直播机排种测控系统设计与试验
Design and Test of Seeding Measurement and Control System for Cotton Precision Directing Machine Based on Radar Speed Measurement
摘要
Abstract
Aiming at the problems of sticky soil in the cotton area after wheat in the Yangtze River basin,large amount of straw stubble left on the ground surface,the ground wheel driving method is prone to winding slippage and congestion phenomenon,which leads to leakage of sowing,broken strips,and the lack of integrated device for cotton seed guiding and performance detection,thus a radar speed measurement based seeding measurement and control system of cotton precision direct seeding machine was designed.The cloud-end architecture model of 3-channel independent DC motor speed control and 3-channel real-time detection of cotton seed flow was constructed;the seeding measurement and control cloud platform was designed to realize real-time collection,display,storage and multi-device control of the seeding operation parameters;and the fuzzy PID controller was designed to realize real-time regulation and control of the specified grain spacing at the same time with the speed.Matlab was utilized to carry out a simulation comparison test between the fuzzy PID controller and the PID controller.The results showed that the fuzzy PID algorithm model reduced the overshooting amount by 28.95％,the rise time by 28.57％,and the steady state time by 22.22％than the PID algorithm model.The motor control accuracy test was carried out,and the results showed that the maximum speed error between the actual motor speed and the theoretical speed was 1.8％,and the average error was 1.1％.The results of the bench test showed that compared with the JPS-16 computer vision test bench,the difference between the qualified index,omission index and reseeding index detected by the measurement and control system was lower than 1.3,0.7 and 0.8 percentage points,respectively.The results of the road test showed that the maximum error between the actual and theoretical number of seed rows was 2.4％at the operating speed of 3.6～9.2 m/h;the accuracy of single-road detection was not less than 97.44％.The results of field test showed that at the operating speed of 3.6～9.2 m/h,the seeding qualification index controlled by this system was higher than 90.81％,the leakage index was lower than 4.64％,and the coefficient of variation of grain spacing was lower than 14.38％.Demonstration application showed that this cotton precision direct seeding machine row seeding measurement and control system can effectively improve the quality of cotton direct seeding machine sowing after wheat in the cotton area of Yangtze River Basin.关键词
棉花/播种检测/雷达测速/模糊PIDKey words
cotton/seeding detection/radar speed measurement/fuzzy PID分类
农业科技引用本文复制引用
丁幼春,张驰海,董万静,詹振宇,魏松,农峰..基于雷达测速的棉花精量直播机排种测控系统设计与试验[J].农业机械学报,2025,56(5):59-70,12.基金项目
湖北洪山实验室重大科研项目(2021hszd006)和湖北省棉花科技支撑计划项目(2023) （2021hszd006）
