姚颍飞, 陈学庚, 纪超, 陈金成, 张惠, 潘峰. 基于模糊PID控制的玉米精量播种机单体驱动器设计与试验[J]. 农业工程学报, 2022, 38(6): 12-21. DOI: 10.11975/j.issn.1002-6819.2022.06.002
    引用本文: 姚颍飞, 陈学庚, 纪超, 陈金成, 张惠, 潘峰. 基于模糊PID控制的玉米精量播种机单体驱动器设计与试验[J]. 农业工程学报, 2022, 38(6): 12-21. DOI: 10.11975/j.issn.1002-6819.2022.06.002
    Yao Yingfei, Chen Xuegeng, Ji Chao, Chen Jincheng, Zhang Hui, Pan Feng. Design and experiments of the single driver for maize precision seeders based on fuzzy PID control[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2022, 38(6): 12-21. DOI: 10.11975/j.issn.1002-6819.2022.06.002
    Citation: Yao Yingfei, Chen Xuegeng, Ji Chao, Chen Jincheng, Zhang Hui, Pan Feng. Design and experiments of the single driver for maize precision seeders based on fuzzy PID control[J]. Transactions of the Chinese Society of Agricultural Engineering (Transactions of the CSAE), 2022, 38(6): 12-21. DOI: 10.11975/j.issn.1002-6819.2022.06.002

    基于模糊PID控制的玉米精量播种机单体驱动器设计与试验

    Design and experiments of the single driver for maize precision seeders based on fuzzy PID control

    • 摘要: 为提升新疆地区玉米精量播种机作业效率、稳定高速工况下播种质量,该研究以气吸圆盘式玉米排种器为研究对象,设计了一种基于模糊PID控制的玉米精量播种机单体驱动器。基于电机驱动排种控制系统硬件构成及工作原理,搭建了以STM32F103C8T6单片机为核心的功能电路。该单体驱动器工作时,由霍尔传感器采集播种机的作业速度,通过高精度光电旋转编码器实时反馈电机转速,利用增益调整型模糊PID算法使调速系统根据转速偏差和偏差变化率实时修正PID控制参数,使电机转速快速精准地跟随作业速度的变化。通过转速控制特性试验可知:脉冲宽度调制(Pulse Width Modulation, PWM)频率为60 kHz时,电机具有良好的启动特性;电机转速在307~10 441 r/min范围内,电机实际转速变异系数均小于6.29%,具有较好的稳定性和线性度。电机调速试验结果表明:在设定电机目标转速为1 500 r/min时,模糊PID调速系统相比传统PID调速系统超调量降低0.4%,上升时间和调节时间分别缩短0.12和0.49 s,稳态误差减小0.3%;在种床带速度反馈周期T=1.0 s时,模糊PID动态调速精度较高、鲁棒性好。电机驱动排种台架试验结果表明:作业速度为8、10 km/h时,两种控制方式的播种性能指标差异较小;作业速度为12 km/h时,模糊PID控制的播种合格指数大于93.04%,重播指数小于5.13%,漏播指数小于1.83%;与传统PID控制方式相比合格指数均值提高2.50个百分点,重播指数均值降低0.85个百分点,漏播指数均值降低0.88个百分点,各播种性能指标均优于传统PID控制方式,适于高速播种作业。研究结果可为玉米高速精量播种机的研发设计提供参考。

       

      Abstract: Abstract: A corn precision seeder can determine crop performance during the whole process in Xinjiang of western China. In this study, a single driver of corn precision seeder was proposed to stabilize the planting quality under high-speed working conditions using fuzzy PID control. A functional circuit was built with the STM32F103C8T6 microcontroller as the core, according to the hardware composition and working principles of the motor-driven planting row control system. The operating speed of the planter was collected by a Hall-effect sensor, and the motor speed was fed back in real time by the high-precision photoelectric rotary encoder. A fuzzy PID with the gain adjustment was selected to make the speed control system modify the PID control parameters in real time, according to the speed deviation and deviation change rate. Therefore, the motor speed was quickly and precisely followed the operating speed. The speed control test showed that the motor presented excellent start-up characteristics with the pulse width modulation (PWM) frequency of 60 kHz. Specifically, the actual speed coefficient of variation for the motor was less than 6.29% at the motor speed of 307 to 10441 r/min, indicating higher stability and linearity. The motor speed test showed that the overshoot of the fuzzy PID speed regulation system was 0.4%, which was much lower than before, particularly when the target speed of the motor was set at 1500 r/min. The rising time and regulation time were shortened by 0.12 and 0.49 s, respectively, and the steady-state error was reduced by 0.3 percentage points. Furthermore, the accuracy and robustness of dynamic speed regulation were much higher in the fuzzy PID system than before, when the speed feedback period of the planting bed was T=1.0 s. The motor-driven planting bench test showed that there was a small difference in planting performance indexes between the two control system when the operating speed was 8 and 10 km/h. The planting qualification index of the fuzzy PID control was more than 93.04%, whereas, the reply- and miss-planting indexes were less than 5.13%, and 1.83%, respectively when the operating speed was 12 km/h. Furthermore, the average qualification index increased by 2.50 percentage points, whereas, the average replay- and miss-planting indexes decreased by 0.85 and 0.88 percentage points, respectively, compared with the traditional one. All planting performance indexes were better than before suitable for high-speed planting operations. The finding can provide a strong reference for the design of the corn high-speed precision planter.

       

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