基于线性自抗扰的稻田除草对行控制系统设计与试验  

Design and experiment of control system for weeding alignment in rice field based on linear active disturbance rejection control

作　　者：陈学深[1] 方贵进 马旭[1] 蒋郁 齐龙[1] 黄柱健 Chen Xueshen;Fang Guijin;Ma Xu;Jiang Yu;Qi Long;Huang Zhujian(College of Engineering,South China Agricultural University,Guangzhou 510642,China;Modern Educational Technology Center,South China Agricultural University,Guangzhou 510642,China)

机构地区：[1]华南农业大学工程学院,广州510642 [2]华南农业大学现代教育技术中心,广州510642

出　　处：《农业工程学报》2020年第6期19-27,共9页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(51575195);广东省重点领域研发计划专项(2019B020221002);广州市科技计划项目(201803020021);现代农业产业技术体系建设专项资金项目(CARS-01-43)。

摘　　要：为降低水稻机械除草的行间伤苗率,该文基于线性自抗扰技术开展水稻田间除草对行控制系统研究。在苗带信息获取的基础上,针对水田作业环境设计了一种基于线性自抗扰的对行液压控制系统。采用内、外滑梁结构,实现对行执行机构对除草部件作业路径的避苗调控。应用Amesim与Matlab联合仿真方法,构建了对行液压控制系统仿真平台,分别对线性自抗扰算法和PID算法进行了控制器设计及仿真比较,仿真结果表明:在加入扰动情况下,线性自抗扰控制系统达到期望的对行调控时间比PID减少0.1s,且抗干扰性及鲁棒性均优于PID控制算法。田间试验结果表明:行进速度和作业深度对伤苗率影响显著,最优作业参数组合为行进速度0.5 m/s,调节间距60 cm,作业深度20 cm,此时伤苗率为3.6%;性能比较试验表明:有对行控制系统的平均伤苗率为3.9%,没有对行系统控制的伤苗率为18.6%。该系控制统满足机械除草对行控制的要求,可为水田作业环境下的精准控制问题提供借鉴。Rice is one of the major food crops in the world, weeds are one of the main reasons for the decrease of rice yield and quality. In traditional agriculture, the main weeding method is to use herbicides, which would not only cause environment pollution, but also cause weed resistance. At present, mechanical weeding, as a green weeding method, is a new technology,because of the possibility of seedlings injury, it is still in the development stage. In order to avoid seedlings, there is a lag between the adjustment of weeding components and the movement of fuselage. During the rectification period, the weeding components will inevitably cause damage to rice seedlings. Therefore, it is necessary and urgent to realize intelligent seedling avoidance control technology by perceiving the curvature degree of rice rows, differentiating the operation path of weeding components. To reduce the seeding injury rate of mechanical weeding, on the basis of obtaining the information of rice seedling belt, a control system for weeding alignment in rice field based on linear active disturbance rejection control is designed in this paper. Row alignment technique is a method to control the deviation of weeding component on the operation path. By using the structure of inner and outer sliding beams, the weeding component can avoid seedling and control weeding in the working path through the row alignment mechanism. A hydraulic control system is proposed and simulation is carried out by combining Amesim with Matlab. The simulation platform of hydraulic control system is constructed, and the controller is designed. The simulation comparison between the linear active disturbance rejection control(LADRC) algorithm and PID algorithm is carried out. The results of simulation show that the line alignment time of LADRC system is 0.1 s less than that of PID system, and in the case of disturbance, the anti-interference of LADRC is better than PID control algorithm and has certain robustness. To verify the actual performance of the LADRC, field expe

关 键 词：农业机械 自动化 水稻 机械除草 对行控制 线性自抗扰 

分 类 号：S237[农业科学—农业机械化工程]