自走式辣椒移栽机栽深控制系统OA
Planting Depth Control System of Self-propelled Pepper Transplanter Based on the Principle of Swing-leg Lifting and Lowering with External Octagonal Shape
针对辣椒移栽机作业过程中存在栽植深度稳定性差的问题,以一种具有外八形摆腿升降底盘的自走式辣椒移栽机为研究对象,构建了底盘摆腿升降的液压控制系统.为使底盘车架随地面起伏、车架与垄面保持平行,通过设计移栽机关键部件并建立转向桥和驱动臂摆腿升降的运动学模型,获得转向桥和驱动臂的摆角与摆腿油缸伸缩长度的关系模型,以此建立升降底盘离地高度闭环控制模型.利用RecurdDyn与MatLab/Simulink联合仿真了摆腿升降底盘的运动学模型,验证了模型的正确性和升降控制策略的有效性.通过PID算法实时解算底盘升降控制模型,由控制器发送电流信号动态调节流量共享三路阀(EHV)的开度,实时控制 3 路升降油缸的伸缩量,从而调整车架姿态和离地高度,实现对栽植深度的调节.底盘升降试验结果表明:底盘车架从离地最高 84 cm处下降至离地最低 49 cm处的平均用时约为 14 s,上升平均用时约为 10 s,栽深误差控制在±1 cm以内,升降过程中车架平稳,系统具有正确性和有效性,可为自走式辣椒移栽机的栽深控制提供技术参考.
Aiming at the problem of poor stability of planting depth in the operation process of pepper transplanting ma-chine,a self-propelled pepper transplanting machine with outer eight-shaped swing leg lifting chassis was taken as the re-search object,and the hydraulic control system of chassis swing leg lifting was constructed.In order to make the chassis frame undulate with the ground and keep the frame parallel to the ridge surface,the key components of the transplanter were designed and the kinematics model of the lifting and lowering of the swing leg of the steering axle and the driving arm was established.The relationship model between the swing angle of the steering axle and the driving arm and the telesco pic length of the swing leg cylinder was obtained,and the closed-loop control model of the lifting chassis height from the ground was established.The kinematics model of the swing leg lifting chassis was simulated by RecurdDn and MatLab/Simulink,and the correctness of the model and the effectiveness of the lifting control strategy were verified.Through the PID algorithm,the chassis lifting control model was solved in real time.The current signal sent by the controller dynami-cally adjusted the opening of the flow sharing three-way valve(EHV),and controlled the expansion and contraction of the three-way lifting cylinder in real time,so as to adjust the frame attitude and the height from the ground,and realize the adjustment of the planting depth.The results of the chassis lifting test showed that the average time for the chassis frame to drop from the highest 84 cm to the lowest 49 cm from the ground was about 14 s,and the average time for rising was about 10 s.The planting depth error was controlled within±1 cm.The frame was stable during the lifting process,and the system was correct and effective,which could provide technical reference for the planting depth control of the self-propelled pepper transplanter.
Lai Haizhu;Yin Jianjun;Zhou Maile;Ma Chenyan;Zhang Ding;Lin Zhenhua
School of Agriculture Engineering,Jiangsu University,Zhenjiang 212013,ChinaSchool of Agriculture Engineering,Jiangsu University,Zhenjiang 212013,ChinaSchool of Agriculture Engineering,Jiangsu University,Zhenjiang 212013,ChinaSchool of Agriculture Engineering,Jiangsu University,Zhenjiang 212013,ChinaSchool of Agriculture Engineering,Jiangsu University,Zhenjiang 212013,ChinaSchool of Agriculture Engineering,Jiangsu University,Zhenjiang 212013,China
农业科技
辣椒移栽机栽深控制外八形摆腿升降原理自走式
pepper transplanterplanting depth controlprinciple of swing-leg lifting and lowering with external shapeself-propelled
《农机化研究》 2026 (4)
258-266,9
江苏省自然科学基金面上项目(BK20251906)镇江市重点研发计划项目(NY2023003)
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