农机化研究2026，Vol.48Issue(7)：219-226,8.DOI:10.13427/j.issn.1003-188X.2026.07.028
自走式电动播种机导航系统设计与试验
Design and Experiment of Self-Propelled Electric Seeder Navigation System
摘要
Abstract
To address the issues of low automation and poor control accuracy in electric seeders for hilly and mountainous terrains,a self-propelled electric seeder with intelligent navigation based on BeiDou Navigation Satellite System was de-veloped.By designing a dual-track independent drive structure and a flexible profiling seeding-depth control mecha-nism,autonomous seeding operations and precise seeding functions were achieved.Additionally,the seeder was equipped with sensors such as BDS(BeiDou Navigation Satellite System)and IMU(Inertial Measurement Unit)to enable real-time positioning.MATLAB/SIMULINK was used to conduct simulation experiments and optimize intelligent navigation parameters for the PID(Proportional-Integral-Derivative)controller in the navigation system.The experimental data collected via BDS had verified the system's data accuracy and filtering effectiveness under various road conditions.A navigation path interpolation algorithm was designed to break down preset destination points into multiple short-distance targets,enhancing the seeder's precision and rapid target-tracking capability during long-distance navigation.Field tests results indicated that when the P value was set to 70,the I value to 30,and the D value to 10 in the PID controller,the system responded fastest and has the smallest steady-state error.On the preset straight line on flat ground and curved path on low-lying areas,after BDS filtering,the positioning accuracy was within 3 cm.After setting the seeder's preset path,the average lateral deviation was 2.5 cm,with a maximum deviation below 2.7 cm.The autonomous electric seeder can maintain a constant operating speed of 1.5 m/s during straight-line travel,with the CV value of 5.1%.Through adap-tive speed control algorithms,the speed can be kept at 1.1 m/s in curved sections.Test results indicated that the opera-tional performance met the requirements of practical agricultural production.关键词
电动播种机/北斗导航系统/惯性测量单元/滤波算法/PID控制器/智能导航/丘陵山地Key words
electric seeder/BeiDou Navigation Satellite System/Inertial Measurement Unit/filtering algorithm/PID controller/intelligent navigation/hilly and mountainous areas分类
农业科技引用本文复制引用
陈佳峰,干锦鹏,杨自栋..自走式电动播种机导航系统设计与试验[J].农机化研究,2026,48(7):219-226,8.基金项目
浙江省尖兵领雁计划项目(2022C02042) （2022C02042）
