农机化研究2025，Vol.47Issue(12)：53-60,8.DOI:10.13427/j.issn.1003-188X.2025.12.007
电驱动全自动蔬菜移栽机恒速直线行进控制方法研究
Control Method of Constant Speed Straight Line Travel of Electric Drive Fully Automatic Vegetable Transplanter
摘要
Abstract
The state of the fully automatic vegetable transplanting machine in traveling at a constant speed in a straight line has a significant impact on its planting capability.If the speed fluctuated greatly and the driving route was not straight due to the influence of the pavement behavior condition during driving,it was easy to cause problems such as unstable planting spacing and deviation from the soil ridge during automatic planting.Therefore,based on the prototype of an elec-trically driven fully automatic transplanting machine developed by the research team,the control method for constant-speed straight-line movement of the transplanting machine driven by dual-wheel hub motors was investigated.According to the agronomic requirements for transplanting tray seedlings of solanaceous vegetables in greenhouse,the planting fre-quency and travel control requirements of the transplanting machine were determined.The the control strategy was ana-lyzed theoretically,and a control method that combines a cross-coupling control strategy with PID algorithm was formula-ted.Based on this method,MatLab/Simulink was used to analyze the simulation of the speed variation and speed difference of the two-wheel hub motors of the transplanting machine under ideal driving conditions,irregular road surface excitation,and sudden road resistance.Field tests of the prototype were conducted and the results indicated that at planting frequencies of 45 plants/min and 60 plants/min,the success rates of planting were 97.2%and 95.8%respec-tively,and the coefficient of variation of plant spacing was 3.82%and 3.89%respectively.Compared with the control method without using this control method,the planting success rate was improved and the plant spacing was more stable,which could meet the requirements of wheel-type transplanting machines for transplanting operations in greenhouses and similar facilities,and also provide technical and theoretical basis for the development and design of similar agricultural e-quipment in the future.关键词
蔬菜全自动移栽机/直线行进控制/恒速控制/电驱动轮式/Simulink仿真Key words
automatic vegetable transplanter/straight line travel control/constant speed control/electric drive wheel type/Simulink simulation分类
农业科技引用本文复制引用
文天拟,赵晓琪,张若瑜,曲广一,钟霞,杨启志..电驱动全自动蔬菜移栽机恒速直线行进控制方法研究[J].农机化研究,2025,47(12):53-60,8.基金项目
江苏大学农业装备学部重点项目(NZXB20210101) （NZXB20210101）
江苏省高等学校基础科学(自然科学)研究项目(20KJB416009) （自然科学）
