电动自走式玉米-花生带状复合种植模式施药机设计与试验  

Design and Experiment of Electric Self-propelled Maize-Peanut Strip Compound Planting Pesticide Applicator

作　　者：郝建军[1,2] 艾庆贺 袁大超 李兆玮 杨淑华 赵建国[1] HAO Jianjun;AI Qinghe;YUAN Dachao;LI Zhaowei;YANG Shuhua(College of Mechanical and Electrical Engineering,Hebei Agricultural University,Baoding 071001,China;Technology Innovation Center of Intelligent Agricultural Equipment of Hebei Province,Baoding 071001,China)

机构地区：[1]河北农业大学机电工程学院,保定071001 [2]河北省智慧农业装备技术创新中心,保定071001

出　　处：《农业机械学报》2024年第9期216-225,274,共11页Transactions of the Chinese Society for Agricultural Machinery

基　　金：河北省现代农业产业技术体系创新团队项目(HBCT2023030207)。

摘　　要：针对玉米-花生带状复合种植模式施药农艺要求,设计了一款基于STM32单片机控制系统的电动自走式玉米-花生带状复合种植模式施药机。对施药机的驱动电机、转向机构、喷杆及防飘装置、施药管路等关键部件进行了选型与设计;采用流量传感器和速度传感器实时采集管路药液流量和底盘行驶速度,通过增量式PID算法实时调节比例控制阀开度,实现了变量施药控制;开发了基于Android手机的APP控制软件,实现了对施药机的远程控制。流量控制精度试验表明,调控后单个喷头目标流量与实际流量的相对误差η≤4.0%;变量施药试验表明,施药系统平均超调量为2.7%,施药量与理论值相差2.1%;雾滴沉积试验表明,雾滴沉积个数极差为4个/cm^(2),单位面积最低沉积量为35个/cm^(2),符合国家标准。A control system based on STM32 microcontroller was designed for the electric self-propelled maize-peanut strip compound planting pesticide application machine,in order to meet the agronomic requirements for the pesticide application of maize-peanut strip compound planting.The selection and design of key components such as the driving motor,steering mechanism,spray boom and anti-drift device,and pesticide application pipeline for the pesticide application machine were carried out.Real-time data collection is achieved using flow sensors to monitor pipeline liquid flow and speed sensors to track chassis driving speed.The incremental PID algorithm is employed to adjust the proportional control valve opening in real-time.This dynamic adjustment ensures accurate and responsive control over the pesticide application process.As a result,the system implements variable spray control.An APP control software was developed based on Android phones,achieving remote control of the pesticide applicator.The accuracy test of flow control showed that the relative error between the target flow rate of a single nozzle after regulation and the actual flow rateη≤4.0%.The variable application experiment showed that during the experiment,the average overshoot of the application system was 2.7%,and the difference between the application amount and the theoretical value was 2.1%.The fog droplet deposition test showed that the number of fog droplets deposited had a range of 4 drops/cm^(2),and the minimum deposition amount per unit area was 35 drops/cm^(2),which met the national standard.

关 键 词：玉米-花生带状复合种植模式 电动自走式施药机 变量施药 APP控制 

分 类 号：S491.2[农业科学—植物保护]