丘陵地区甘蔗种植机仿形覆土器设计与试验  

Design and test of a contour-following soil cover device for sugarcane planters in hilly areas

作　　者：麻芳兰[1] 苗金泽 樊广坤 李尚平[2] 叶凤滋 罗一鸣 MA Fanglan;MIAO Jinze;FAN Guangkun;LI Shangping;YE Fengzi;LUO Yiming(College of Mechanical Engineering,Guangxi University,Nanning,530004,China;College of Electronic Information,Guangxi Minzu University,Nanning,530006,China)

机构地区：[1]广西大学机械工程学院,南宁530004 [2]广西民族大学电子信息学院,南宁530006

出　　处：《农业工程学报》2025年第2期26-36,共11页Transactions of the Chinese Society of Agricultural Engineering

基　　金：国家自然科学基金项目(52165009);广西自然科学基金项目(2021GXNSFAA220021)。

摘　　要：针对现有甘蔗种植机覆土器适用范围有限,在丘陵地区作业出现覆土厚度不均匀,从而影响甘蔗发芽率等问题,该研究设计了一种仿形覆土器。依据覆土器的整机结构和工作原理,基于静力学与动力学分析确定了覆土圆盘关键参数。根据覆土农艺要求,对仿形方案及覆土圆盘液压缸进行分析。建立仿形液压控制系统数学模型,并验证控制系统的稳定性;采用主从控制策略对两液压缸进行控制,主回路采用PID控制器,从回路分别采用PID、模糊PID控制器,对比液压缸调整能力、响应时间及两缸位移差。仿真结果显示:主回路调整时间为0.16 s,超调量为7.3%;从回路在不同控制器下的调整时间为0.49和0.21 s,超调量为12.1%和5.2%,最大位移差为4.2和0.42 mm。从回路采用模糊PID控制器效果良好,两液压缸基本实现同步伸缩。田间试验表明,覆土圆盘直径300 mm、厚度3 mm、圆盘张角60°时,平坦地表作业时覆土厚度为77~83 mm,有坡度地表作业时覆土厚度为74~85 mm,变异系数分别为1.88%和3.47%,控制系统最大响应时间为0.28 s,两覆土圆盘液压缸伸缩量最大位移差为0.69 mm;满足仿形要求。Planting has been one of the most critical stages during sugarcane production.Sugarcane planting can also directly determine whether to germinate successfully and grow healthily.However,the soil cover devices have been limited to the uneven soil cover of sugarcane planters in the hilly regions.The resulting germination rates of sugarcane cannot fully meet the agronomic requirements of large-scale production in recent years.In this study,a novel soil cover device was developed to contour to the surface morphology,in order to ensure uniform soil cover for sugarcane planting in the hilly areas.The soil cover device consisted of soil cover discs,a pressing wheel,and hydraulic cylinders of soil cover disc.The forces acting on the soil cover discs were analyzed using statics and dynamics.The primary resistance of soil cover discs significantly increased to originate from the soil,as the penetration depth or soil cover disc diameter increased.Furthermore,the soil cover disc diameter and thickness were determined to be 300 and 3 mm,respectively,according to the soil conditions and agronomic requirements in Guangxi Province,China.The contour-following system was proposed in the device.An overall hydraulic system was developed for a double-row sugarcane planter.The hydraulic cylinders were designed for the soil cover discs.The forces acting on the soil cover discs were analyzed using the lever principle.The hydraulic cylinder specifications were determined as 32 and 18 mm for the inner and piston diameters,respectively.There was a correlation between contour-following and soil cover.The soil cover thickness was adjusted to control the penetration depth of the discs using slope adjustments,according to the extension or retraction of the hydraulic cylinders.Its stability was then validated to enhance the response speed and control precision of the contour-following system.A mathematical model was established for the hydraulic control system.A master-slave synchronization control strategy was adopted to reduce the displacemen

关 键 词：仿形 控制 甘蔗 覆土器 双液压缸回路 模糊PID 

分 类 号：S223.5[农业科学—农业机械化工程]