基于自动导航的小麦精准对行深施追肥机设计与试验  

Design and Experiment of Deep Fertilizer Applicator Based on Autonomous Navigation for Precise Row-following

作　　者：冯慧敏[1,2] 高娜娜 孟志军[3] 陈立平[3] 李由[2] 郭玉明[1] FENG Huimin;GAO Na＇na;MENG Zhijun;CHEN Liping;LI You;GUO Yuming(College of Engineering, Shanxi Agricultural University, Taigu 030801 , China;Beijing Research Center for Information Technology in Agriculture, Beijing 100097, China;Beijing Research Center of Intelligent Equipment for Agriculture, Beijing 100097, China)

机构地区：[1]山西农业大学工学院,太谷030801 [2]北京农业信息技术研究中心,北京100097 [3]北京农业智能装备技术研究中心,北京100097

出　　处：《农业机械学报》2018年第4期60-67,共8页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0200600-2016YFD0200604)

摘　　要：针对冬小麦返青期地表追施氮肥使氮素挥发导致肥料利用率低的问题,结合目前在小麦追肥过程中缺少深施氮肥作业装备的现状,进行了基于拖拉机自动导航技术实现精准对行深施氮肥的技术研究,设计了小麦精准对行精量深施追肥机。追肥机采用安装有自动导航系统的拖拉机牵引实现精准对行,以RTK-GNSS接收机测取的作业速度为基准,通过液压系统驱动排肥机构工作,双圆盘开沟器开沟深施,采用PID控制排肥轴转速与车辆行驶速度实现实时匹配,达到精量控制追肥量的目的。田间试验结果表明:设置目标追肥量为200 kg/hm2,车辆行驶速度为5 km/h时,追肥机能完成对行深施追肥作业,机具对行作业误差在±6 cm以内,追肥量偏差小于9%,可满足实际生产需求;对照撒肥机表层撒肥作业,每公顷减施氮肥25 kg左右,小麦每公顷增产486.5 kg左右。Broadcasting application of nitrogen at returning green stage results in ammonia volatilization and low nitrogen use efficiency. At present, the mechanized topdressing equipment is lacking in China, the precise fertilizer deep applicator was designed to meet the demand of mechanized subsurface topdressing fertilization for wheat, the precise row-following and accurate deep fertilizing method were studied based on autonomous navigation system. The applicator was driven by tractor mounted with autonomous navigation system to realize specific row-following operation, the speed of applicator was resolved by taking advantage of RTK - GNSS technology, the fertilizer application was driven by hydraulic system, double-disc opener opened a ditch to realize deep fertilizing, closed-loop PID control system was used to control motor speed and realize real-time rotation rate adjustment to achieve accurately control fertilizer amount. Field experiments were conducted to examine the performance of applicator, results indicated that： when the fertilizer amount was preseted to be 200 kg/hm^2, tractor speed at 5 km/h, the row-following deviation within ± 6 cm, the dynamic deviation of fertilizer amount deviation within 9% , which met the practical demand; compared with broadcasting application by fertilizer distributor, the amount of nitrogen was decreased by 25 kg/hm^2 , grain yield was increased by 486.5 kg/hm^2. The applicator could achieve precise deep topdressing fertilization for wheat and be equipped for precision agriculture.

关 键 词：小麦 深施追肥机 自动导航 PID控制 精量排肥 精准对行 

分 类 号：S224.22[农业科学—农业机械化工程]