气动下压式高速移栽机自动控制系统设计与试验  

Design and Test of Automatic Control System of Pneumatic Ejecting Type High-speed Transplanter

作　　者：王超 李永磊[1,2] 宋建农 马荣华[1] 刘彩玲 李方林 WANG Chao;LI Yonglei;SONG Jiannong;MA Ronghua;LIU Cailing;LI Fanglin(College of Engineering,China Agricultural University,Beijing 100083,China;Key Laboratory of Soil Machine Plant System Technology,Ministry of Agriculture and Rural Affairs,Beijing 100083,China)

机构地区：[1]中国农业大学工学院,北京100083 [2]农业农村部土壤机器植物系统技术重点实验室,北京100083

出　　处：《农业机械学报》2022年第3期114-125,共12页Transactions of the Chinese Society for Agricultural Machinery

基　　金：国家重点研发计划项目(2016YFD0700302)。

摘　　要：针对气动下压式高速移栽机有序供盘和高速取苗作业自动控制需求,本文基于Arduino微控制器设计移栽机自动控制系统。该系统包括苗盘位移监测、有序供盘、高速取苗等任务模块,以苗盘位置和苗盘位移为主要控制条件,根据供盘速度送盘速度、高速取苗间隔苗盘位移等参数匹配要求确定供盘速度和取苗间隔控制方法,建立有序供盘、高速取苗两个有限状态机,并基于动态时间片轮询算法设计控制流程,实现有序供盘、高速取苗作业过程自动控制。以供盘位置准确度和取苗位置准确度为指标开展控制系统运行准确性试验,结果表明,高速取苗时(90~150株/min),供盘位置最大相对误差1.27%,取苗位置最大相对误差12.85%,第2~6时序取苗位置最大累积相对误差分别为11.85%、5.63%、4.25%、1.94%和2.44%,均在允许误差范围内,满足作业要求。以供盘成功率、取投苗成功率为指标开展移栽性能试验,试验结果表明,高速作业时自动控制系统运行正常、性能可靠,供盘送盘有效衔接、送盘取苗精准配合,供盘成功率、取苗成功率为100%,投苗成功率不小于94.44%,实现了气动下压式高速移栽机有序供盘、高速取苗过程自动化作业。Aiming at the automatic control demands of the pneumatic ejecting type high-speed transplanter,an automatic control system for the transplanter was designed based on Arduino microcontroller.The system mainly included multi task modules of tray displacement detection,orderly tray supplying and high-speed seedling ejecting.Taking the position and displacement of the seedling tray as the main control conditions,the methods for controlling tray supplying speed and seedling ejecting interval were determined by analyzing the coordinated relationships of the tray supplying speed-tray feeding speed,and seedling ejecting interval-tray displacement.Two finite state machines were established respectively;the control flow was designed based on the dynamic time slice polling algorithm.The accuracy test of the control system was carried out to assess position accuracies,results of which showed that the maximum relative errors of tray supplying position and the seedling ejecting position were 1.27%and 12.85%respectively at high-speed(90~150 plants/min),the maximum cumulative relative errors of the 2nd to 6th seedling ejecting positions were 11.85%,5.63%,4.25%,1.94%and 2.44%,respectively,which were all within the allowable error range and met the working requirements.The transplanting performance test was carried out with the indicators of the success rate of tray supplying,seedling ejecting and throwing.The test results showed that the automatic control system worked reliably at high-speed,the tray supplying and tray feeding motions were connected effectively,and the seedling ejecting sequences were synchronized with continuous tray feeding accurately,the success rate of tray supplying and the success rate of seedling ejecting were both 100%,and the success rate of seedling throwing was above 94.44%.The automatic working of the orderly tray supplying and seedling ejecting at high-speed of the pneumatic ejecting type high-speed transplanter was realized.

关 键 词：高速移栽机 自动控制系统 气动下压式 有序供盘 

分 类 号：S223.92[农业科学—农业机械化工程]