CN113748967B - Liquid injection control method and control system of seedling transplanter - Google Patents
Liquid injection control method and control system of seedling transplanter Download PDFInfo
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- CN113748967B CN113748967B CN202111052754.8A CN202111052754A CN113748967B CN 113748967 B CN113748967 B CN 113748967B CN 202111052754 A CN202111052754 A CN 202111052754A CN 113748967 B CN113748967 B CN 113748967B
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- A—HUMAN NECESSITIES
- A01—AGRICULTURE; FORESTRY; ANIMAL HUSBANDRY; HUNTING; TRAPPING; FISHING
- A01G—HORTICULTURE; CULTIVATION OF VEGETABLES, FLOWERS, RICE, FRUIT, VINES, HOPS OR SEAWEED; FORESTRY; WATERING
- A01G29/00—Root feeders; Injecting fertilisers into the roots
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
- G01N33/246—Earth materials for water content
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- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B11/00—Automatic controllers
- G05B11/01—Automatic controllers electric
- G05B11/36—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential
- G05B11/42—Automatic controllers electric with provision for obtaining particular characteristics, e.g. proportional, integral, differential for obtaining a characteristic which is both proportional and time-dependent, e.g. P.I., P.I.D.
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
- G01N33/00—Investigating or analysing materials by specific methods not covered by groups G01N1/00 - G01N31/00
- G01N33/24—Earth materials
- G01N2033/245—Earth materials for agricultural purposes
Abstract
The invention discloses a seedling transplanter liquid injection control method and a control system thereof, which are used for collecting soil humidity and soil nutrients; calculating the theoretical water injection amount of the water injection mechanism flowing to the duckbill and generating a water injection signal corresponding to the theoretical water injection amount, calculating the theoretical fertilizer injection amount of the fertilizer injection mechanism flowing to the duckbill and generating a fertilizer injection signal corresponding to the theoretical fertilizer injection amount; the controller outputs a water injection signal and a fertilizer injection signal to the water injection proportional valve and the fertilizer injection proportional valve respectively, the water injection flowmeter acquires actual water injection quantity, and the fertilizer injection flowmeter acquires actual fertilizer injection quantity; and the controller inputs the difference between the actual water injection amount and the theoretical water injection amount and the difference between the actual fertilizer injection amount and the theoretical fertilizer injection amount into the PID algorithm controller, and the output of the PID algorithm controller is used as a water injection signal and a fertilizer injection signal for the next operation. The invention adopts PID control algorithm to adjust the water injection process in real time, thereby greatly improving the utilization rate of water resources.
Description
Technical Field
The invention relates to the technical field of seedling transplanter control, in particular to a liquid injection control method and a liquid injection control system of a seedling transplanter.
Background
When the seedling transplanter works, the power of the engine is transmitted to the main shaft through the gearbox, and the main shaft drives the driving wheel to move and the unit to walk through chain transmission. The driver can adjust the gear of the gearbox according to the transplanting requirement so as to achieve different running speeds. The transplanting part is driven by the main shaft chain wheel mechanism to rotate the double-crank connecting rod mechanism, so that transplanting duckbills are driven to move to complete reciprocating circular motion, the motion is matched with the forward motion of a machine, the transplanting duckbills are guaranteed to vertically rise and fall, and the vertical planting of seedlings is realized. The opening and closing of the transplanting duck bill is controlled by a stay wire, and in a non-transplanting driving area, an operator can adjust a clutch without transplanting operation. The row spacing is adjusted by replacing the adjusting chain wheels of the planting transmission mechanisms with different tooth numbers. The transverse seedling throwing device is adopted for throwing the seedlings, so that operators can have enough time to throw the seedlings, and the transplanting seedling leakage rate is effectively reduced.
In northwest arid areas such as Xinjiang, Gansu and the like, seedlings such as melon and vegetable need to be subjected to water injection operation after being transplanted, and sometimes different pesticides and liquid fertilizers need to be added while injecting water. In addition, some seedling transplanting machines in the market try to add a water injection mechanism on the basis of the prior art, but the functions of the prior water injection mechanism are limited to realizing fixed-point and quantitative water application, the applicability is poor, the water injection and fertilizer injection amount cannot be accurately controlled, and the effect of improving the survival rate of seedlings is insufficient.
Disclosure of Invention
The purpose of the invention is as follows: the invention aims to provide a seedling transplanter liquid injection control method and a seedling transplanter liquid injection control system aiming at the defects of the prior art, which can perform liquid injection operation according to soil humidity and soil nutrients, perform feedback regulation and control through a PID control algorithm and improve liquid injection efficiency.
The technical scheme is as follows: the invention discloses a seedling transplanter liquid injection control method, which comprises the following steps:
(1) collecting soil humidity and soil nutrients in the previous hole of the duckbilled duck;
(2) calculating the theoretical water injection amount flowing to the duckbill of the fertilizer injection mechanism and generating a water injection signal corresponding to the theoretical water injection amount according to the target soil humidity and the collected soil humidity, and calculating the theoretical fertilizer injection amount flowing to the duckbill of the fertilizer injection mechanism and generating a fertilizer injection signal corresponding to the theoretical fertilizer injection amount according to the target soil nutrient and the collected soil nutrient;
(3) collecting a position signal when the duckbill moves to the lowest point, triggering an external opening signal of the controller, outputting a water injection signal and a fertilizer injection signal to a water injection proportional valve and a fertilizer injection proportional valve by the controller respectively, determining the opening degree and the time of a valve body according to the water injection signal by the water injection proportional valve to perform water injection operation, determining the opening degree and the time of the valve body according to the fertilizer injection signal by the fertilizer injection proportional valve to perform fertilizer injection operation, collecting the actual water injection quantity flowing to the duckbill by the water injection mechanism in the current time period by a water injection flowmeter, and collecting the actual fertilizer injection quantity flowing to the duckbill by the fertilizer injection mechanism in the current time period by the fertilizer injection flowmeter;
(4) the controller inputs the difference between the actual water injection amount and the theoretical water injection amount and the difference between the actual fertilizer injection amount and the theoretical fertilizer injection amount into a PID algorithm controller, and the output of the PID algorithm controller is used as a water injection signal and a fertilizer injection signal for the next operation;
(5) and (4) repeating the steps, and replacing the water injection signal and the fertilizer injection signal in the step (2) with the water injection signal and the fertilizer injection signal in the step (4) to finish all water injection.
The technical scheme is further perfected, the water injection mechanism comprises a water tank, a water pump and a water injection pipeline, water stored in the water tank is pumped by the water pump and then enters the inlet of the water injection pipeline through the water injection proportional valve, the outlet of the water injection pipeline is communicated with the first inlet of the mixing pipeline through the water injection flow meter, and the outlet of the mixing pipeline is communicated with the duckbill; annotate fertile mechanism including storing up fertile jar, filter, annotating fertile pump, annotating fertile pipeline, store up fertile liquid in the jar and annotated fertile pump extraction through the filter, pass through again annotate fertile proportional valve and get into and annotate fertile pipeline entry, annotate fertile pipeline export warp annotate fertile flowmeter with the second entry intercommunication of hybrid pipeline, the hybrid pipeline export with the duckbilled intercommunication.
Further, the duckbilled is two, the water pump delivery port of water injection mechanism is connected with two way water injection pipeline through two water injection proportional valve, and two way water injection pipeline link to each other respectively with the first entry of two way hybrid pipeline through two water injection flow meters, the filter of annotating fertile mechanism is connected with two way fertilizer injection pipelines through two fertilizer injection proportional valve, and two way fertilizer injection pipelines are annotated two fertilizer flow meters and two through two the second entry of hybrid pipeline links to each other respectively, and the export of two hybrid pipeline links to each other respectively with two duckbilled.
Further, the first entry of hybrid pipeline is equipped with the water injection check valve, the second entry of hybrid pipeline is equipped with the fertilizer injection check valve.
Further, the duckbilled includes that two are conical duckbilled piece that opens and shuts, and one of them duckbilled piece that opens and shuts is hollow structure, hollow structure's top be equipped with the inlet with mixed pipeline export intercommunication, hollow structure's bottom is equipped with the liquid outlet.
Furthermore, the soil humidity and the soil nutrients are respectively collected through a soil humidity sensor and a soil nutrient sensor on the front side of the duckbill, and the soil humidity sensor and the soil nutrient sensor are installed on the seedling transplanter and keep an operation planting distance with the duckbill; position signals when the duckbilled moves to the lowest point are collected through a position sensor, and the position sensor is arranged on the seedling transplanter and corresponds to the lowest point of movement of the duckbilled.
Further, the calculation process of the PID algorithm controller comprises the following steps: calculating the difference between the actual water injection amount and the theoretical water injection amount in the current time period
Difference between actual and theoretical fertilizer injection amount of current time period
Calculating
And
average error of
Average the error
And a predetermined error value
Compared with the following steps:
when the temperature is higher than the set temperature
When the water injection signal and the fertilizer injection signal are subjected to self-adaptive adjustment, the PID algorithm controller adopts a fuzzy control rule to carry out self-adaptive adjustment on PID parameters of the water injection signal and the fertilizer injection signal;
when in use
And is
The PID algorithm controller adopts an expert PID control rule to adjust the PID parameter of the water injection signal and adopts a fuzzy control rule to adjust the PID parameter of the fertilizer injection signal;
when in use
And is
The PID algorithm controller adopts a fuzzy control rule to adjust the PID parameters of the water injection signals and adopts an expert PID control rule to adjust the PID parameters of the fertilizer injection signals.
A seedling transplanter annotates liquid control system for realizing above-mentioned method includes: the soil humidity sensor and the soil nutrient sensor are arranged on the seedling transplanter and keep an operation row spacing with the duckbilled, and the soil humidity sensor and the soil nutrient sensor are respectively used for collecting the soil humidity and the soil nutrient in the previous hole of the duckbilled; the water tank is connected with the water pump, the water outlet of the water pump is divided into two paths, each path is connected with a water injection proportional valve, a water injection pipeline and a water injection flowmeter, and the two paths of water injection flowmeters are communicated with first inlets of the two mixing pipelines; the fertilizer storage tank is connected with the filter, the water outlet of the filter is divided into two paths by the fertilizer injection pump, each path is connected with a fertilizer injection proportional valve, a fertilizer injection pipeline and a fertilizer injection flowmeter, and the two paths of fertilizer injection flowmeters are communicated with second inlets of the two mixing pipelines; the two duckbills are arranged on two sides of the seedling transplanter in parallel, do reciprocating circular motion along with a main shaft chain wheel of the seedling transplanter and open when reaching the lowest point, each duckbill comprises two conical duckbill opening and closing sheets, one duckbill opening and closing sheet is of a hollow structure, a liquid inlet is arranged at the top of the hollow structure, a liquid outlet is arranged at the bottom of the hollow structure, and the liquid inlets of the two duckbills are respectively communicated with outlets of the two mixing pipelines; the two position sensors are arranged on the seedling transplanter and correspond to the two duckbill movement lowest points; the controller is connected with the soil humidity sensor, the soil nutrient sensor, the water injection proportional valve, the fertilizer injection proportional valve, the water injection flowmeter, the fertilizer injection flowmeter and the position sensor and is used for acquiring the soil humidity of a previous duckbill hole acquired by the soil humidity sensor and the soil nutrient sensor and calculating the theoretical water injection quantity of the water injection mechanism flowing to the duckbill and generating a water injection signal corresponding to the theoretical water injection quantity, the theoretical fertilizer injection quantity of the fertilizer injection mechanism flowing to the duckbill is calculated and generating a fertilizer injection signal corresponding to the theoretical fertilizer injection quantity, the duckbill in-place signal acquired by the position sensor is received and triggered to the water injection proportional valve and the fertilizer injection proportional valve, and the water injection flowmeter, the actual water injection quantity acquired by the fertilizer injection flowmeter and the actual fertilizer injection quantity are acquired and are adjusted through the PID algorithm controller.
Further, the calculation process of the PID algorithm controller comprises the following steps: calculating the difference between the actual water injection amount and the theoretical water injection amount in the current time period
Difference between actual and theoretical fertilizer injection amount of current time period
Calculating
And
average error of (2)
Average error of
And a predetermined error value
Compared with the following steps:
when in use
When the water injection signal and the fertilizer injection signal are subjected to self-adaptive adjustment, the PID algorithm controller adopts a fuzzy control rule to carry out self-adaptive adjustment on PID parameters of the water injection signal and the fertilizer injection signal;
when in use
And is
The PID algorithm controller adopts an expert PID control rule to adjust the PID parameter of the water injection signal and adopts a fuzzy control rule to adjust the PID parameter of the fertilizer injection signal;
when the temperature is higher than the set temperature
And is
The PID algorithm controller adopts a fuzzy control rule to adjust the PID parameters of the water injection signals and adopts an expert PID control rule to adjust the PID parameters of the fertilizer injection signals.
Has the advantages that: compared with the prior art, the invention has the advantages that: according to the rice seedling transplanting device, the soil humidity sensor and the soil nutrient sensor are arranged to collect soil humidity and soil nutrients, the position sensor is adopted to accurately acquire transplanting duckbill action time, the controller generates driving signals of the water injection proportional valve and the fertilizer injection proportional valve, and starting, opening and time adjustment of the water injection proportional valve and the fertilizer injection proportional valve are achieved, so that the accurate control of a liquid injection process is achieved, the utilization rate of water resources and fertilizers is greatly improved, the liquid injection amount is more accurate, and the survival rate of rice seedlings is guaranteed; the soil humidity sensor and the soil nutrient sensor are arranged in front of the duckbills and keep synchronous motion, so that the soil moisture content of the transplanting position of the next hole is accurately measured, and the liquid injection accuracy of each seedling is ensured; the actual liquid injection amount is obtained through the flow meter, comparison with a target liquid injection amount is facilitated, the PID algorithm is adopted to accurately control water injection and fertilizer injection, integral errors are judged firstly aiming at two groups of regulation and control of water injection and fertilizer injection, then the water injection and fertilizer injection errors are judged respectively, and two modes of expert PID control and fuzzy PID control are adopted, so that the method has good real-time performance and rapidity, small speed overshoot and high steady-state precision, and the control precision of the water injection and fertilizer injection process is guaranteed to be greatly improved; annotate the liquid pipe and pass through hollow structure's duckbilled piece that opens and shuts, directly carry liquid to the seedling root, prevent when avoiding blockking up that high-pressure liquid directly from dashing to seedling and root, cause the harm to the seedling.
Drawings
FIG. 1 is a schematic control diagram of a water injection process and a fertilizer injection process;
figure 2 is a schematic view of a duckbill configuration;
figure 3 is a cross-sectional view of the duckbill junction with the mixing channel.
FIG. 4 is a functional block diagram of the controller of the present invention;
FIG. 5 is a control flow diagram of the present invention;
fig. 6 is a PID control schematic of the present invention.
Detailed Description
The technical solution of the present invention is described in detail below with reference to the accompanying drawings, but the scope of the present invention is not limited to the embodiments.
The liquid injection control system of the seedling transplanter shown in fig. 1 comprises: water tank, water pump, fertilizer storage tank, filter, notes fertile pump, two duckbilled. The water tank is connected with the water pump, the water outlet of the water pump is divided into two paths, each path is connected with a water injection proportional valve, a water injection pipeline and a water injection flowmeter, and the two paths of water injection flowmeters are communicated with first inlets of the two mixing pipelines; the fertilizer storage tank is connected with a filter, the outlet of the filter is divided into two paths through a fertilizer injection pump, each path is connected with a fertilizer injection proportional valve, a fertilizer injection pipeline and a fertilizer injection flowmeter, the two paths of fertilizer injection flowmeters are communicated with the second inlets of the two mixing pipelines, and the outlets of the two mixing pipelines are communicated with the duckbills.
The two duck mouths are arranged at two sides of the seedling transplanter in parallel and do reciprocating circular motion along with a main shaft chain wheel of the seedling transplanter and are opened when reaching the lowest point. As shown in fig. 2 and 3, the duckbilled comprises two tapered duckbilled opening and closing pieces 1, one of the duckbilled opening and closing pieces is a hollow structure 5, a liquid inlet 2 is arranged at the top of the hollow structure 5, a liquid outlet 4 is arranged at the bottom of the hollow structure 5, and the liquid inlets 2 of the two duckbilled are respectively communicated with the outlets of the two mixing pipelines.
The seedling transplanter is also provided with two groups of soil humidity sensors, soil nutrient sensors and two position sensors, wherein the soil humidity sensors, the soil nutrient sensors and the duckbill keep an operation planting distance and are respectively used for collecting the soil humidity and the soil nutrient in the previous hole of the duckbill; the two position sensors correspond to the two duckbill motion lowest points on the seedling transplanter.
As shown in fig. 3, taking a duck-bill water injection and fertilizer injection control as an example, the controller is connected with a soil humidity sensor, a soil nutrient sensor, a water injection proportional valve, a fertilizer injection proportional valve, a water injection flowmeter, a fertilizer injection flowmeter and a position sensor, the duckbill fertilizer injection mechanism is used for acquiring soil humidity and soil nutrients of a duckbill previous hole acquired by the soil humidity sensor and the soil nutrients, calculating theoretical water injection quantity of the water injection mechanism flowing to the duckbill and generating a water injection signal corresponding to the theoretical water injection quantity, generating a fertilizer injection signal corresponding to the theoretical fertilizer injection quantity by the fertilizer injection mechanism flowing to the duckbill, receiving duckbill in-place signals acquired by the position sensor and triggering a water injection proportional valve and a fertilizer injection proportional valve, acquiring a water injection flowmeter, actual water injection quantity acquired by the fertilizer injection flowmeter, actual fertilizer injection quantity and adjusting the water injection signal and the fertilizer injection signal through a PID algorithm controller.
The water injection control method of the seedling transplanter liquid injection control system comprises the following steps:
(1) the driving wheel is driven by the main shaft chain wheel to move forward, the duckbills do reciprocating circular motion along with the main shaft chain wheel, and the soil humidity sensor, the soil nutrient sensor and the duckbills in front of the duckbills keep synchronous motion;
(2) the soil humidity sensor and the soil nutrient sensor are used for collecting soil humidity and soil nutrients in a previous hole of the duckbill and transmitting the soil humidity and the soil nutrients to the controller, the controller calculates theoretical water injection quantity flowing to the duckbill of the water injection mechanism and generates a water injection signal corresponding to the theoretical water injection quantity according to target soil humidity and collected soil humidity, and the controller calculates theoretical fertilizer injection quantity flowing to the duckbill of the fertilizer injection mechanism and generates a fertilizer injection signal corresponding to the theoretical fertilizer injection quantity according to the target soil nutrient and collected soil nutrients;
(3) as shown in fig. 5, in the advancing process, the duckbill moves to the position of the previous hole and opens when reaching the lowest point, at this time, the position sensor acquires a position signal of the duckbill and triggers an external interrupt signal of the controller, the controller outputs a water injection signal and a fertilizer injection signal to the water injection proportional valve and the fertilizer injection proportional valve respectively, the water injection proportional valve determines the opening degree and time of the valve body according to the water injection signal to perform water injection operation, the fertilizer injection proportional valve determines the opening degree and time of the valve body according to the fertilizer injection signal to perform fertilizer injection operation, the water injection flowmeter acquires the actual water injection amount flowing to the duckbill of the water injection mechanism in the current time period, and the fertilizer injection flowmeter acquires the actual fertilizer injection amount flowing to the duckbill of the fertilizer injection mechanism in the current time period;
(4) the controller inputs the difference between the actual water injection amount and the theoretical water injection amount and the difference between the actual fertilizer injection amount and the theoretical fertilizer injection amount into a PID algorithm controller, and the output of the PID algorithm controller is used as a water injection signal and a fertilizer injection signal for the next operation;
(5) and (5) repeating the steps (2) to (4), and replacing the water injection signal and the fertilizer injection signal in the step (2) with the water injection signal and the fertilizer injection signal in the step (4) to finish all water injection.
The PID control diagram shown in FIG. 6:
wherein the content of the first and second substances,
for the value of the water injection control variable output by the PID1 algorithm controller,
the value of the fertilizer injection control variable output by the PID2 algorithm controller, T is the sampling period,
the proportional coefficient for controlling the water injection is,
for the differential coefficient of the water injection control,
is the integral coefficient of the water filling control,
in order to control the proportional coefficient of the fertilizer injection,
in order to control the differential coefficient of the fertilizer injection,
is the integral coefficient of the fertilizer injection control,
in order to realize the actual water injection amount,
the water injection quantity is a target water injection quantity,
in order to realize the actual fertilizer injection amount,
the target fertilizer injection amount is obtained.
The adoption of the expert PID control is based on a controlled object and a control rule and is realized in an intelligent mode.
according to the error and the variation thereof, designing expert PID control, taking water injection control as an example, setting two error limit values M1 and M2, wherein M1 is more than M2:
when in use
And is
When the error is changed towards the direction of increasing the absolute value of the error and the error is larger, the control output adopts proportional differential control, and a proportional control coefficient adopts a gain amplification coefficient;
when in use
And is
If the error is changed towards the direction of increasing the absolute value of the error but the absolute value of the error is not large, the control output adopts proportional differential control, and a proportional control coefficient adopts an amplification suppression coefficient;
when in use
When the absolute value of the error is developed towards a smaller direction, the control output is kept unchanged;
when in use
And is
When the error is in an extreme value and the absolute value of the error is larger, the control output adopts proportional control, and the proportional coefficient adopts a gain amplification coefficient;
when in use
And is
When the error is in an extreme value and the absolute value of the error is smaller, the control output adopts proportional control, and the proportional coefficient adopts a suppression coefficient;
when in use
And the absolute value of the error is small, and then integration is added to reduce the steady-state error.
Fuzzy self-adaptive PID control changes a control strategy in real time on the basis of the characteristics of a controlled object, and ensures that the output is in an optimal range. Fuzzy adaptive PID control to difference between actual and theoretical water injection rates
And the difference between the rate of change, the actual amount of fertilizer injected and the theoretical amount of fertilizer injected
And the change rate of the three parameters is used as the input quantity of fuzzy control to find out the three parameters and the difference value of PID
And the fuzzy relation between the change rates of the two coefficients, wherein the proportional coefficient is used for accelerating the response speed of the system and improving the adjustment precision, the integral coefficient is used for eliminating the steady-state error of the system, and the differential coefficient is used for improving the dynamic characteristic of the system; after fuzzification, the product is converted into the medicineThe fuzzy set described by the fuzzy language is used for establishing a fuzzy control rule between input and output, calculating a fuzzy control table according to the rule in an off-line manner, storing the fuzzy control table in the controller, converting complex reasoning operation into simple table look-up operation during real-time control, and improving the response speed.
The single fuzzy PID control has high response speed and basically has no overshoot, but the steady-state error is larger; the PID control method provided by the invention has the advantages that aiming at two groups of regulation and control of water injection and fertilizer injection, the integral error is judged firstly, then the error quantity of the water injection and fertilizer injection is judged respectively, and two modes of expert PID control and fuzzy PID control are adopted, so that the real-time performance and the rapidity are good, the speed overshoot is small, the steady-state precision is high, and the control precision of the water injection and fertilizer injection process is greatly improved.
As noted above, while the present invention has been shown and described with reference to certain preferred embodiments, it is not to be construed as limited thereto. Various changes in form and detail may be made therein without departing from the spirit and scope of the invention as defined by the appended claims.
Claims (8)
1. The utility model provides a seedling transplanter annotates liquid control system which characterized in that includes:
the soil humidity sensor and the soil nutrient sensor are arranged on the seedling transplanter and keep an operation planting distance with the duckbill, and are respectively used for collecting the soil humidity and the soil nutrient in the previous hole of the duckbill;
the water tank is connected with the water pump, the water outlet of the water pump is divided into two paths, each path is connected with a water injection proportional valve, a water injection pipeline and a water injection flowmeter, and the two paths of water injection flowmeters are communicated with first inlets of the two mixing pipelines;
the fertilizer storage tank is connected with the filter, the water outlet of the filter is divided into two paths by the fertilizer injection pump, each path is connected with a fertilizer injection proportional valve, a fertilizer injection pipeline and a fertilizer injection flowmeter, and the two paths of fertilizer injection flowmeters are communicated with second inlets of the two mixing pipelines;
the two duckbills are arranged on two sides of the seedling transplanter in parallel, do reciprocating circular motion along with a main shaft chain wheel of the seedling transplanter and open when reaching the lowest point, each duckbill comprises two conical duckbill opening and closing sheets, one duckbill opening and closing sheet is of a hollow structure, a liquid inlet is arranged at the top of the hollow structure, a liquid outlet is arranged at the bottom of the hollow structure, and the liquid inlets of the two duckbills are respectively communicated with outlets of the two mixing pipelines;
the two position sensors are arranged on the seedling transplanter and correspond to the two duckbill movement lowest points;
the controller is connected with the soil humidity sensor, the soil nutrient sensor, the water injection proportional valve, the fertilizer injection proportional valve, the water injection flowmeter, the fertilizer injection flowmeter and the position sensor and is used for acquiring the soil humidity of a previous duckbill hole acquired by the soil humidity sensor and the soil nutrient sensor and calculating the theoretical water injection quantity of the water injection mechanism flowing to the duckbill and generating a water injection signal corresponding to the theoretical water injection quantity, the theoretical fertilizer injection quantity of the fertilizer injection mechanism flowing to the duckbill is calculated and generating a fertilizer injection signal corresponding to the theoretical fertilizer injection quantity, the duckbill in-place signal acquired by the position sensor is received and triggered to the water injection proportional valve and the fertilizer injection proportional valve, and the water injection flowmeter, the actual water injection quantity acquired by the fertilizer injection flowmeter and the actual fertilizer injection quantity are acquired and are adjusted through the PID algorithm controller.
2. The seedling transplanter liquid injection control system according to claim 1, wherein: the calculation process of the PID algorithm controller comprises the following steps:
calculating the difference value between the actual water injection amount and the theoretical water injection amount in the current time period
Difference between actual fertilizer injection amount and theoretical fertilizer injection amount in current time period
Calculating
And
average error of
Average the error
And a predetermined error value
Compared with the following steps:
when in use
When the water injection signal and the fertilizer injection signal are subjected to self-adaptive adjustment, the PID algorithm controller adopts a fuzzy control rule to carry out self-adaptive adjustment on PID parameters of the water injection signal and the fertilizer injection signal;
when the temperature is higher than the set temperature
And is
The PID algorithm controller adopts an expert PID control rule to adjust the PID parameter of the water injection signal and adopts a fuzzy control rule to adjust the PID parameter of the fertilizer injection signal;
when the temperature is higher than the set temperature
And is
The PID algorithm controller adopts a fuzzy control rule to adjust the PID parameters of the water injection signals and adopts an expert PID control rule to adjust the PID parameters of the fertilizer injection signals.
3. The seedling transplanter liquid injection control method by utilizing the seedling transplanter liquid injection control system as claimed in claim 1, which is characterized by comprising the following steps:
(1) collecting soil humidity and soil nutrients in the previous hole of the duckbilled duck;
(2) calculating the theoretical water injection amount flowing to the duckbill of the fertilizer injection mechanism and generating a water injection signal corresponding to the theoretical water injection amount according to the target soil humidity and the collected soil humidity, and calculating the theoretical fertilizer injection amount flowing to the duckbill of the fertilizer injection mechanism and generating a fertilizer injection signal corresponding to the theoretical fertilizer injection amount according to the target soil nutrient and the collected soil nutrient;
(3) collecting a position signal when the duckbill moves to the lowest point, triggering an external opening signal of the controller, outputting a water injection signal and a fertilizer injection signal to a water injection proportional valve and a fertilizer injection proportional valve by the controller respectively, determining the opening degree and the time of a valve body according to the water injection signal by the water injection proportional valve to perform water injection operation, determining the opening degree and the time of the valve body according to the fertilizer injection signal by the fertilizer injection proportional valve to perform fertilizer injection operation, collecting the actual water injection quantity flowing to the duckbill by the water injection mechanism in the current time period by a water injection flowmeter, and collecting the actual fertilizer injection quantity flowing to the duckbill by the fertilizer injection mechanism in the current time period by the fertilizer injection flowmeter;
(4) the controller inputs the difference between the actual water injection amount and the theoretical water injection amount and the difference between the actual fertilizer injection amount and the theoretical fertilizer injection amount into a PID algorithm controller, and the output of the PID algorithm controller is used as a water injection signal and a fertilizer injection signal for the next operation;
the calculation process of the PID algorithm controller comprises the following steps:
calculating the difference between the actual water injection amount and the theoretical water injection amount in the current time period
Difference between actual and theoretical fertilizer injection amount of current time period
Calculating
And
average error of
Average the error
And a predetermined error value
Compared with the following steps:
when in use
When the water injection signal and the fertilizer injection signal are subjected to self-adaptive adjustment, the PID algorithm controller adopts a fuzzy control rule to carry out self-adaptive adjustment on PID parameters of the water injection signal and the fertilizer injection signal;
when in use
And is
The PID algorithm controller adopts an expert PID control rule to adjust the PID parameter of the water injection signal and adopts a fuzzy control rule to adjust the PID parameter of the fertilizer injection signal;
when the temperature is higher than the set temperature
And is
The PID algorithm controller adopts a fuzzy control rule to adjust the PID parameters of the water injection signals and adopts an expert PID control rule to adjust the PID parameters of the fertilizer injection signals;
(5) and (4) repeating the steps, and replacing the water injection signal and the fertilizer injection signal in the step (2) with the water injection signal and the fertilizer injection signal in the step (4) to finish all water injection.
4. The seedling transplanter liquid injection control method according to claim 3, characterized in that: the water injection mechanism comprises a water tank, a water pump and a water injection pipeline, water stored in the water tank is pumped by the water pump and then enters the inlet of the water injection pipeline through the water injection proportional valve, the outlet of the water injection pipeline is communicated with the first inlet of the mixing pipeline through the water injection flowmeter, and the outlet of the mixing pipeline is communicated with the duckbill; annotate fertile mechanism including storing up fertile jar, filter, annotating fertile pump, annotating fertile pipeline, store up fertile liquid in the jar and annotated fertile pump extraction through the filter, pass through again annotate fertile proportional valve and get into and annotate fertile pipeline entry, annotate fertile pipeline export warp annotate fertile flowmeter with the second entry intercommunication of hybrid pipeline, the hybrid pipeline export with the duckbilled intercommunication.
5. The seedling transplanter liquid injection control method according to claim 3, characterized in that: the duckbilled is two, the water pump delivery port of water injection mechanism is connected with two way water injection pipeline through two water injection proportional valve, and two way water injection pipeline link to each other respectively through two water injection flow meters and two way hybrid tube's first entry, the filter of annotating fertile mechanism is connected with two way fertilizer injection pipelines through two fertilizer injection proportional valve, and two way fertilizer injection pipelines are through two fertilizer injection flow meters and two the second entry of hybrid tube links to each other respectively, and two hybrid tube's export links to each other respectively with two duckbilled.
6. The seedling transplanter liquid injection control method according to claim 3, characterized in that: the first entry of hybrid pipeline is equipped with the water injection check valve, the second entry of hybrid pipeline is equipped with the fertile check valve of notes.
7. The seedling transplanter liquid injection control method according to claim 3, characterized in that: the duckbilled includes that two are conical duckbilled piece that opens and shuts, and one of them duckbilled piece that opens and shuts is hollow structure, hollow structure's top be equipped with the inlet with mixing duct exports the intercommunication, hollow structure's bottom is equipped with the liquid outlet.
8. The seedling transplanter liquid injection control method according to claim 3, characterized in that: the soil humidity and the soil nutrients are respectively collected through a soil humidity sensor and a soil nutrient sensor on the front side of the duckbilled seedling transplanter, and the soil humidity sensor and the soil nutrient sensor are installed on the seedling transplanter and keep an operation planting distance with the duckbilled seedling transplanter; position signals when the duckbilled moves to the lowest point are collected through a position sensor, and the position sensor is arranged on the seedling transplanter and corresponds to the lowest point of movement of the duckbilled.
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| CN114964893B (en) * | 2022-07-27 | 2022-09-30 | 农业农村部南京农业机械化研究所 | Soil detection sampling device for planting watermelon and muskmelon arch shed inserting frame |
| CN116235841B (en) * | 2023-05-08 | 2023-08-08 | 云南省烟草公司昆明市公司 | Handheld soil fixed-point killing device for crop growing period |
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