CN109197047B - Automatic encoder control method suitable for community breeding seeder - Google Patents
Automatic encoder control method suitable for community breeding seeder Download PDFInfo
- Publication number
- CN109197047B CN109197047B CN201810867289.5A CN201810867289A CN109197047B CN 109197047 B CN109197047 B CN 109197047B CN 201810867289 A CN201810867289 A CN 201810867289A CN 109197047 B CN109197047 B CN 109197047B
- Authority
- CN
- China
- Prior art keywords
- encoder
- cell
- pulse number
- stepper motor
- sowing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Active
Links
Images
Classifications
-
- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01C—PLANTING; SOWING; FERTILISING
- A01C7/00—Sowing
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
- G05D13/00—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover
- G05D13/62—Control of linear speed; Control of angular speed; Control of acceleration or deceleration, e.g. of a prime mover characterised by the use of electric means, e.g. use of a tachometric dynamo, use of a transducer converting an electric value into a displacement
Landscapes
- Life Sciences & Earth Sciences (AREA)
- Soil Sciences (AREA)
- Environmental Sciences (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Engineering & Computer Science (AREA)
- Automation & Control Theory (AREA)
- Sowing (AREA)
Abstract
An automatic control method of an encoder suitable for a community seed breeding seeder comprises the following steps: collecting the total pulse number required when the seed breeding seeder crosses a cell through the encoder: np _ encoder; counting the total pulse number required by the stepping motor when the seed breeding seeder crosses the cell: np _ step motor; the following parameters C1, C2, and C3 were solved: setting C3 as a compensation value, C3 ═ Np _ encoder/C1-Np _ stepper motor; the symbol% in the formula is the symbol of the remainder after the division of the two parameters is solved; when the detected pulse number is C2, the value C3 needing compensation is skipped to be executed. The mode mentioned in the encoder control method provided by the invention is to automatically control the mechanical structure parameters of the diameter of the land measuring wheel and the transmission ratio of the land measuring wheel to the encoder as calculation parameters. And the second mode does not need mechanical structure parameters, and only needs to take the pulse number of each meter of the encoder as a calculation parameter for automatic control.
Description
Technical Field
The invention relates to an automatic encoder control method suitable for a community breeding seeder, and belongs to the technical field of automatic control of agricultural machinery.
Background
As an agricultural machine for special purposes, the self-propelled wheat plot breeding seeder has the following conventional working requirements: as shown in the attached figure 1, the structure of the vertebral body seed separating device comprises a hopper 1, a lifting handle 2, a lifting electromagnet 3, a seed storage cylinder 4, a cone 5, a grating disc 6, a grating disc drive shaft 7, a bevel gear 8, a grating disc mounting seat 9, a grating disc shield 10 and the like. The working principle is as follows: manually putting seeds prepared in advance into the funnel 1, collecting and storing the seeds in the seed storage cylinder 4 through the funnel 1, lifting the electromagnet 3 to wait for a seed dropping command of an electric control system, lifting the seed storage cylinder 4 to a certain height through the lifting handle 2, generating an annular gap between the cone 5 and the seed storage cylinder 4, enabling the seeds to uniformly slide into each cell of the cell plate 6 along the surface of the cone 5, enabling the seeds to continuously and uniformly fall into the centrifugal distribution device from the cell plate seed dropping port along with the rotation of the cell plate 6, and then enabling the next operation to be carried out.
The operation requirements of the existing seed breeding seeder are as follows: the staff need sow the district of the fixed length, and every district requires the grating dish to rotate only one round, leave the interval of certain length between the district, stride across after the interval, breeding seeder continues to sow a district again, analogize with this, as shown in figure 2.
The length and the interval of the cell need to be measured manually when the existing breeding and sowing equipment works, obviously, the automatic control level of the breeding and sowing equipment is low, and the seeding length and the interval length of the cell cannot be monitored in real time, so that the seeding quantity of each cell is difficult to control, and the use is very inconvenient.
In order to solve the technical problem, compared with patent CN104012222A, an electric self-propelled numerical control cell drill seeder is disclosed, which comprises a traveling mechanism, an automatic control device, a seed separating mechanism correspondingly arranged on the traveling mechanism, a ditching and seeding mechanism and a lifting mechanism, wherein the seed separating mechanism comprises a seed separating unit arranged above the ditching and seeding mechanism and a seed storing unit arranged above the seed separating unit; the travelling mechanism is an electric travelling mechanism; the seed separating unit comprises a seed separating disc and a seed separating servo motor or a seed separating stepping motor which is arranged below the seed separating disc and used for driving the seed separating disc to rotate. The invention is focused on the structure of the self-propelled seed drill and related structural components, but does not disclose a clear control algorithm.
The invention mainly protects a control method suitable for a cell breeding seeder and is suitable for seed-sowing type breeding machines of wheat, sesame, rape and the like.
Disclosure of Invention
Aiming at the defects of the prior art, the invention discloses an automatic encoder control method suitable for a community seed breeding seeder.
Technical term interpretation:
an encoder: the walking distance of the walking wheels is measured.
A stepping motor: and proportionally controlling the starting time and the rotating speed of the grid disc according to the walking distance of the walking wheels.
According to the walking distance of the sowing and seed-raising machine measured by the encoder, the rotation of the stepping motor is controlled by combining the size of the land parcel of the actual area to be sowed, and the rotary sowing of the grating disc is realized. Wherein the encoder obtains the walking distance as counted by the pulse count; the rotation of the stepping motor is controlled by the pulsating quantity, and the problem that the encoder controls the grating disk is converted into the problem that the pulse sent by the encoder controls and drives the stepping motor.
In summary, the present invention is applicable to the case where the rotation rate of the encoder is higher than the rotation rate of the stepping motor. The invention is also applicable to the situation where the length range of the cell is greater than 3 meters.
The detailed technical scheme of the invention is as follows:
an automatic control method of an encoder suitable for a community breeding seeder comprises the following steps,
the following basic parameters were obtained:
collecting the total pulse number required when the seed breeding seeder crosses a cell through the encoder: np _ encoder;
counting the total pulse number required by the stepping motor when the seed breeding seeder crosses the cell: np _ step motor;
the following parameters C1, C2, and C3 were solved:
c1 ═ Np _ encoder/Np _ stepper motor;
setting C2 is the pulse number that the encoder needs to skip:
when (Np _ stepper motor% (Np _ encoder% Np _ stepper motor)) > 0, i.e., there is a remainder,
c2 ═ C1 (Np _ stepper motor/(Np _ encoder%/Np _ stepper motor) + 1);
when (Np _ stepper motor% (Np _ encoder% Np _ stepper motor)) ═ 0, i.e., no remainder,
c2 ═ C1 (Np _ stepper motor/(Np _ encoder% Np _ stepper motor));
setting C3 as a compensation value, C3 ═ Np _ encoder/C1-Np _ stepper motor;
the symbol% in the formula is the symbol of the remainder after the division of the two parameters is solved;
when the detected pulse number is C2, the value C3 needing compensation is skipped to be executed.
According to a preferred embodiment of the present invention, the method for reading the encoder includes:
1) starting;
2) entering the encoder B phase to be disconnected, wherein the B phase is high level;
3) judging whether the phase A is at a high level:
3-1) when the level is high, the actual rotation direction of the encoder rotates clockwise;
3-1-1) judging whether the sowing starting condition is met:
if yes, continuing to judge whether the interface setting encoder counts clockwise, and if so, starting seeding; if not, ending;
if not, directly ending;
3-2) when the phase A is not at high level, the actual rotation direction of the encoder rotates anticlockwise;
3-2-1) judging whether the sowing starting condition is met:
if yes, continuing to judge whether the interface setting encoder is in the anticlockwise counting state, and if so, starting seeding; if not, ending;
if not, the process is ended directly.
In an encoder that includes a phase a and B, two in a ninety degree phase relationship, the counting circuit can optionally define whether advance a is positive or advance B is positive, since the counting direction changes whenever the AB two lines are swapped.
The working method of the follow-up of the stepping motor comprises at least 2 modes:
(1) starting;
(2) reading the cell length | en, reading the inter-cell space, and reading the transmission ratio K2 of the stepping motor/grating disc;
(3) judging whether a mode one is selected:
(3-1) if the mode one is selected, reading the diameter d of the wheel, calculating the circumference CL of the wheel, and reading the transmission ratio K1 of the encoder/land measuring wheel; using the formula (I)
len/CL K1 (I)
Calculating the total pulse number Np of a single cell, and calculating the total pulse number Np _2 of intervals between adjacent cells;
(3-2) solving an intermediate parameter SowingK ═ K2/Np;
(3-2-1) judging whether sowing is started;
if the sowing is not started, the process is directly finished;
if sowing is started, solving the pulse period Ta of the encoder to solve the pulse period of the stepping motor: tb ═ Ta/Sowing K; when the stepping motor is timed to be periodic, 1 pulse is sent to the port of the stepping motor;
(3-2-2) judging whether seeding is finished:
if the sowing is not finished, repeating the sowing starting flow in the step (3-2-1);
if the seeding is finished, finishing;
(4) if the mode one is not selected, selecting the mode two, namely reading the number n of pulses per meter;
using the formula (II)
n len (II)
Calculating the total pulse number Np of a single cell, and calculating the total pulse number Np _2 of intervals between adjacent cells; and then returning to the step (3-2).
The technical advantages of the invention are as follows:
(1) the mode mentioned in the encoder control method provided by the invention is to automatically control the mechanical structure parameters of the diameter of the land measuring wheel and the transmission ratio of the land measuring wheel to the encoder as calculation parameters. And the second mode does not need mechanical structure parameters, and only needs to take the pulse number (which can be tested and read on a display interface) of each meter of the encoder as a calculation parameter for automatic control. The user can freely select the control mode according to the situation. Wherein, the second mode can solve the problem of accumulative error existing in the encoder.
(2) The solving algorithm mentioned in the encoder control method provided by the invention can control the control precision within 2 cm.
(3) The encoder control algorithm provided by the invention is suitable for stepless modulation and broadcast with the cell length of 3-65 meters.
Drawings
FIG. 1 is a schematic view of the overall structure of a conventional seed planter as described in the art;
FIG. 2 is a top plan view of a field breeding seeding area and marking the spacing distance between the cells;
FIG. 3 is a read operation flow diagram of the encoder of the present invention;
FIG. 4 is a flow chart of the operation of the stepper motor servo in the present invention;
FIG. 5 is a top page of a display interface of a cell breeding seeder controller loaded with the control method of the present invention, wherein: the "automatic" mode of the working mode is the encoder control mode; the seed type is "wheat" (or sesame, rape, etc.); the cell row length and the cell interval are set by a user, the range can be any value between 3 and 65 meters, and the accuracy can be achieved to 3 bits behind a decimal point; the electromagnet suction time is seed falling time which can be freely defined according to the number of seeds, and the more seeds are, the longer the time can be set; the system operation is the state display of the controller starting, and when the system starting indicator lamp turns green; the distribution motor running state indicator lamp also turns green when running; the real-time seeding total distance is the total length of the monitoring seeding; the alarm horn state is that when the distribution motor is in fault, an alarm signal is sent out, and the alarm horn state can be turned on or off;
fig. 6 and 7 are the internal setup interfaces of the planter factory, including mode selection, some settings of mechanical parameters, loaded with the display interface of the cell breeding planter controller of the control method of the present invention, where the encoder shaft turns either counter-clockwise or clockwise depending on the actual encoder installation.
Detailed Description
The invention is described in detail below with reference to the following examples and the accompanying drawings of the specification, but is not limited thereto.
Examples of the following,
An automatic control method of an encoder suitable for a community breeding seeder comprises the following steps,
the following basic parameters were obtained:
collecting the total pulse number required when the seed breeding seeder crosses a cell through the encoder: np _ encoder;
counting the total pulse number required by the stepping motor when the seed breeding seeder crosses the cell: np _ step motor;
the following parameters C1, C2, and C3 were solved:
c1 ═ Np _ encoder/Np _ stepper motor;
setting C2 is the pulse number that the encoder needs to skip:
when (Np _ stepper motor% (Np _ encoder% Np _ stepper motor)) > 0, i.e., there is a remainder,
c2 ═ C1 (Np _ stepper motor/(Np _ encoder%/Np _ stepper motor) + 1);
when (Np _ stepper motor% (Np _ encoder% Np _ stepper motor)) ═ 0, i.e., no remainder,
c2 ═ C1 (Np _ stepper motor/(Np _ encoder% Np _ stepper motor));
setting C3 as a compensation value, C3 ═ Np _ encoder/C1-Np _ stepper motor;
the symbol% in the formula is the symbol of the remainder after the division of the two parameters is solved;
when the detected pulse number is C2, the value C3 needing compensation is skipped to be executed.
The reading working method of the encoder comprises the following steps:
1) starting;
2) entering the encoder B phase to be disconnected, wherein the B phase is high level;
3) judging whether the phase A is at a high level:
3-1) when the level is high, the actual rotation direction of the encoder rotates clockwise;
3-1-1) judging whether the sowing starting condition is met:
if yes, continuing to judge whether the interface setting encoder counts clockwise, and if so, starting seeding; if not, ending;
if not, directly ending;
3-2) when the phase A is not at high level, the actual rotation direction of the encoder rotates anticlockwise;
3-2-1) judging whether the sowing starting condition is met:
if yes, continuing to judge whether the interface setting encoder is in the anticlockwise counting state, and if so, starting seeding; if not, ending;
if not, the process is ended directly.
In an encoder that includes a phase a and B, two in a ninety degree phase relationship, the counting circuit can optionally define whether advance a is positive or advance B is positive, since the counting direction changes whenever the AB two lines are swapped.
The working method of the follow-up of the stepping motor comprises 2 modes: mode one and mode two
(1) Starting;
(2) reading the cell length len, reading the inter-cell space, and reading the transmission ratio K2 of the stepping motor/grating disc;
(3) judging whether a mode one is selected:
(3-1) if the mode one is selected, reading the diameter d of the wheel, calculating the circumference CL of the wheel, and reading the transmission ratio K1 of the encoder/land measuring wheel; using the formula (I)
len/CL K1 (I)
Calculating the total pulse number Np of a single cell, and calculating the total pulse number Np _2 of intervals between adjacent cells;
(3-2) solving an intermediate parameter SowingK ═ K2/Np;
(3-2-1) judging whether sowing is started;
if the sowing is not started, the process is directly finished;
if sowing is started, solving the pulse period Ta of the encoder to solve the pulse period of the stepping motor: tb ═ Ta/Sowing K; when the stepping motor is timed to be periodic, 1 pulse is sent to the port of the stepping motor;
(3-2-2) judging whether seeding is finished:
if the sowing is not finished, repeating the sowing starting flow in the step (3-2-1);
if the seeding is finished, finishing;
(4) if the mode one is not selected, selecting the mode two, namely reading the number n of pulses per meter;
using the formula (II)
n len (II)
Calculating the total pulse number Np of a single cell, and calculating the total pulse number Np _2 of intervals between adjacent cells; and then returning to the step (3-2).
Application examples,
The control method in the embodiment is recorded in the controller of the cell seed-breeding seeder in the form of computer algorithm, and then the parameter debugging of the seeder manufacturer is carried out, and the process is as follows:
1) firstly, entering a background interface of a controller of a cell breeding seeder, setting the transmission ratio of a stepping motor and a grating disc, distributing the rotating speed of the motor, distributing the alarming rotating speed of the motor, rotating the encoder shaft and selecting a mode;
2) if the mode one is selected, the diameter of the wheel, the transmission ratio of the encoder to the ground measuring wheel need to be set; if mode two is selected, then an idle running planter test is required, for example 10 meters (the size can be set arbitrarily), the "pulse count observation zone" total count is observed randomly, and the count is then divided by 10 to fill in the "measured pulses per meter".
The control method in the above embodiment is recorded in the controller of the cell seed and seed planter in the form of computer algorithm, and then the user operation process is carried out:
1) selecting a working mode: can be manual or automatic;
2) selecting a seed type: the seeds can be selected from wheat seeds or sesame seeds, etc.;
3) setting the cell interval: setting arbitrarily according to actual requirements;
4) electromagnet attracting time: can be set according to experience;
5) the alarm horn state is an open state by default, when an alarm signal appears, the alarm horn can be manually closed, and the system can be automatically started when being restarted.
After the interface is configured with the parameters and settings, normal sowing can be started.
Claims (3)
1. An automatic control method of an encoder suitable for a cell breeding seeder, which is characterized by comprising the following steps,
the following basic parameters were obtained:
collecting the total pulse number required when the seed breeding seeder crosses a cell through the encoder: np _ encoder;
counting the total pulse number required by the stepping motor when the seed breeding seeder crosses the cell: np _ step motor;
the following parameters C1, C2, and C3 were solved:
c1 ═ Np _ encoder/Np _ stepper motor;
setting C2 is the pulse number that the encoder needs to skip:
when (Np _ stepper motor% (Np _ encoder% Np _ stepper motor)) > 0, i.e., there is a remainder,
c2 ═ C1 (Np _ stepper motor/(Np _ encoder%/Np _ stepper motor) + 1);
when (Np _ stepper motor% (Np _ encoder% Np _ stepper motor)) ═ 0, i.e., no remainder,
c2 ═ C1 (Np _ stepper motor/(Np _ encoder% Np _ stepper motor));
setting C3 as a compensation value, C3 ═ Np _ encoder/C1-Np _ stepper motor;
the symbol% in the formula is the symbol of the remainder after the division of the two parameters is solved;
when the detected pulse number is C2, the value C3 needing compensation is skipped to be executed.
2. The automatic control method of the encoder suitable for the cell seed planter according to claim 1, wherein the reading operation method of the encoder comprises:
1) starting;
2) entering the encoder B phase to be disconnected, wherein the B phase is high level;
3) judging whether the phase A is at a high level:
3-1) when the level is high, the actual rotation direction of the encoder rotates clockwise;
3-1-1) judging whether the sowing starting condition is met:
if yes, continuing to judge whether the interface setting encoder counts clockwise, and if so, starting seeding; if not, ending;
if not, directly ending;
3-2) when the phase A is not at high level, the actual rotation direction of the encoder rotates anticlockwise;
3-2-1) judging whether the sowing starting condition is met:
if yes, continuing to judge whether the interface setting encoder is in the anticlockwise counting state, and if so, starting seeding; if not, ending;
if not, the process is ended directly.
3. The automatic control method of the encoder suitable for the cell seed planter according to claim 1, wherein the working method of the stepping motor follow-up comprises at least 2 modes:
(1) starting;
(2) reading the cell length len, reading the inter-cell space, and reading the transmission ratio K2 of the stepping motor/grating disc;
(3) judging whether a mode one is selected:
(3-1) if the mode one is selected, reading the diameter d of the wheel, calculating the circumference CL of the wheel, and reading the transmission ratio K1 of the encoder/land measuring wheel; using the formula (I)
len/CL×K1 (I)
Calculating the total pulse number Np of a single cell, and calculating the total pulse number Np _2 of intervals between adjacent cells;
(3-2) solving an intermediate parameter SowingK ═ K2/Np;
(3-2-1) judging whether sowing is started;
if the sowing is not started, the process is directly finished;
if seeding is started, the pulse period Ta of the encoder is obtained, and the pulse period of the stepping motor is obtained: tb ═ Ta/Sowing K; when the stepping motor is timed to be periodic, 1 pulse is sent to the port of the stepping motor;
(3-2-2) judging whether seeding is finished:
if the sowing is not finished, repeating the sowing starting flow in the step (3-2-1);
if the seeding is finished, finishing;
(4) if the mode one is not selected, selecting the mode two, namely reading the number n of pulses per meter;
using the formula (II)
n×len (II)
Calculating the total pulse number Np of a single cell, and calculating the total pulse number Np _2 of intervals between adjacent cells;
and then returning to the step (3-2).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810867289.5A CN109197047B (en) | 2018-08-02 | 2018-08-02 | Automatic encoder control method suitable for community breeding seeder |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810867289.5A CN109197047B (en) | 2018-08-02 | 2018-08-02 | Automatic encoder control method suitable for community breeding seeder |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN109197047A CN109197047A (en) | 2019-01-15 |
| CN109197047B true CN109197047B (en) | 2020-10-23 |
Family
ID=64988459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201810867289.5A Active CN109197047B (en) | 2018-08-02 | 2018-08-02 | Automatic encoder control method suitable for community breeding seeder |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN109197047B (en) |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6459411A (en) * | 1987-08-31 | 1989-03-07 | Fanuc Ltd | Speed control method in digital servo-mechanism of industrial robot |
| KR20080097060A (en) * | 2007-04-30 | 2008-11-04 | (주)컨벡스 | Method and system for compensating position error of step motor |
| CN104092418A (en) * | 2014-06-13 | 2014-10-08 | 中国科学院西安光学精密机械研究所 | Device and method for controlling stepping motor |
| CN106489382A (en) * | 2016-12-29 | 2017-03-15 | 山东农业大学 | A kind of cell, land for growing field crops automation Universal seeder and its control method |
| CN106788014A (en) * | 2017-02-27 | 2017-05-31 | 上海理工大学 | The very fast driving method of stepper motor |
Family Cites Families (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| AU1497788A (en) * | 1987-03-17 | 1988-10-10 | Chetjack Limited | A method of validating data entered on a ticket and the like |
| CN102537471B (en) * | 2011-12-31 | 2013-07-10 | 聚光科技(杭州)股份有限公司 | Method and device for positioning multi-channel direction selecting valve |
| CN102968079B (en) * | 2012-10-31 | 2015-01-14 | 长春理工大学 | Seeding monitoring system of corn precision seeder |
| CN202941128U (en) * | 2012-12-24 | 2013-05-22 | 中机美诺科技股份有限公司 | Full-automatic plot precision seeder |
| CN103399515A (en) * | 2013-08-14 | 2013-11-20 | 中国航空工业集团公司北京长城计量测试技术研究所 | Point location motion controller |
| CN103979148B (en) * | 2014-05-02 | 2015-10-07 | 常德烟草机械有限责任公司 | A kind of control system of adjusting at line position for film dividing and method |
| CN104012222B (en) * | 2014-05-30 | 2016-04-13 | 李延民 | Electric self-propelled numerical control community drilling machine |
| CN205080392U (en) * | 2015-11-03 | 2016-03-09 | 程子民 | Seeder test bench control system |
| CN206585939U (en) * | 2017-01-22 | 2017-10-27 | 河北农业大学 | A kind of plant planter |
| CN107347314B (en) * | 2017-08-16 | 2023-03-03 | 河南农业大学 | Large-particle-size seed plot seeder and seeding method |
| CN107733321B (en) * | 2017-10-26 | 2020-09-25 | 江苏大学 | Monitoring system and monitoring method for seeder |
-
2018
- 2018-08-02 CN CN201810867289.5A patent/CN109197047B/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6459411A (en) * | 1987-08-31 | 1989-03-07 | Fanuc Ltd | Speed control method in digital servo-mechanism of industrial robot |
| KR20080097060A (en) * | 2007-04-30 | 2008-11-04 | (주)컨벡스 | Method and system for compensating position error of step motor |
| CN104092418A (en) * | 2014-06-13 | 2014-10-08 | 中国科学院西安光学精密机械研究所 | Device and method for controlling stepping motor |
| CN106489382A (en) * | 2016-12-29 | 2017-03-15 | 山东农业大学 | A kind of cell, land for growing field crops automation Universal seeder and its control method |
| CN106788014A (en) * | 2017-02-27 | 2017-05-31 | 上海理工大学 | The very fast driving method of stepper motor |
Also Published As
| Publication number | Publication date |
|---|---|
| CN109197047A (en) | 2019-01-15 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN104704953B (en) | Reseed formula Sowing machine for potatoes | |
| CN106444507B (en) | No-tillage rotary seeder control system based on programmable logic controller and method thereof | |
| CN105302013B (en) | A kind of many crop drill for sowing in lines adaptively sow control method | |
| CN111083968B (en) | Precision seeding device and method for seeding quantity compensation | |
| CN104488419A (en) | Miss-seeding real-time detection and automatic seed supplying system of small grain size precise seeding apparatus | |
| CN204482244U (en) | Novel potato sower | |
| CN107006185A (en) | A kind of feed mechanism for seed of the amount of broadcasting step-less adjustment | |
| CN203761825U (en) | Novel sectional dual-regulated-variable fertilizer applicator | |
| CN105815006A (en) | Centrifugal small-particle seed precision seeder and seeding rate control method thereof | |
| CN102630410A (en) | Missed seeding monitoring and positioning system for seeding machine and missed seeding monitoring and positioning method | |
| CN105075474A (en) | Single-bud-section seed sowing device for sugar cane seeds | |
| CN104823581A (en) | Fertilization test platform | |
| RU49674U1 (en) | SOWING TEST STAND | |
| CN109197047B (en) | Automatic encoder control method suitable for community breeding seeder | |
| CN106489382A (en) | A kind of cell, land for growing field crops automation Universal seeder and its control method | |
| CN103766048A (en) | Radar measurement and control precision seeder | |
| CN108124550A (en) | A kind of opposed tilting bucket wheel seeding mechanism of high speed and precision | |
| CN212116163U (en) | Control system for realizing precise seeding and fertilizing by using Beidou navigation | |
| CN109752205A (en) | Planting with sowing machine quality evaluation device and method | |
| CN202587827U (en) | Seeding omission monitoring and positioning system for seeding machine | |
| CN207766851U (en) | A kind of opposed tilting bucket wheel seeding mechanism of high speed and precision | |
| CN112189387A (en) | Centrifugal ridging seeder and seeding quantity feedback control method | |
| CN111448874A (en) | Seeding method and apparatus | |
| CN206517789U (en) | A kind of cell, crop field automation Universal seeder | |
| CN202857269U (en) | Radar measurement and control precision seeder |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| TR01 | Transfer of patent right |
Effective date of registration: 20220120 Address after: 250000 Shanke Zhongchuang space 203-f, No. 19 Keyuan Road, Lixia District, Jinan City, Shandong Province Patentee after: Shandong Shanke Zhikong Digital Technology Co.,Ltd. Address before: No.19, East shoukexueyuan Road, Jingshi Road, Lixia District, Jinan City, Shandong Province Patentee before: SHANDONG COMPUTER SCIENCE CENTER(NATIONAL SUPERCOMPUTER CENTER IN JINAN) |
|
| TR01 | Transfer of patent right |