Saline-alkali soil low-resistance deep scarification fertilizer spreader based on self-adaptive control

Abstract

The invention discloses a low-resistance deep-scarification fertilizer spreader for saline-alkali soil based on self-adaptive control, and provides an innovative scheme aiming at the problems of soil hardening, non-uniform application of a modifier, low operation efficiency and the like. The whole machine comprises a rack, a modifier box, a double-row shovel, a multi-leaf discharger and an intelligent control system. A front row of shovels and a rear row of shovels are designed, a front triangular shovel reduces tillage resistance through wedge-shaped splitting, a rear subsoiler cuts off soil capillary tubes, a discharging pipe is arranged in the rear subsoiler, and deep and accurate throwing of an improver is achieved; 2, PID parameters are optimized based on an improved genetic algorithm, closed-loop control and low-pass filtering noise reduction are combined, a self-adaptive control system is constructed, and the discharging amount and the advancing speed are dynamically matched; the soil pressing roller and the shovel are designed cooperatively, the whole process of soil breaking, deep scarification, agent applying and pressing is completed at a time, and efficiency is improved. Through a low-resistance structure, intelligent control and integrated operation, the equipment breaks a hardened layer, inhibits salt from moving upwards, improves the utilization rate of an improver, has the characteristics of high efficiency, low consumption and ecological protection, and meets the treatment requirements of saline-alkali soil.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of agricultural machinery, and specifically designs a low-resistance deep scarification and fertilizer spreading machine for saline-alkali soil based on adaptive control. BACKGROUND

[0002] Declaration: This patent is supported by the national key research and development plan project "Key technologies and intelligent agricultural equipment for saline-alkali soil intelligent ecological agriculture"; Project number: 2023YFD2001400; Project type: Key technologies and intelligent agricultural equipment for factory farming.

[0003] At present, there is little research on deep scarification and fertilization of saline-alkali soil. The saline-alkali soil is hard and the surface soil is hard, and there is no effective solution to these problems. These problems limit the development of crop root systems and affect the penetration and absorption of water and nutrients, which will have a great impact on the yield and quality of crops. The traditional solution mostly uses multiple machines for multiple tillage, which is low in efficiency, high in cost and harmful to the environment. For saline-alkali soil tillage, breaking the hard layer of the soil surface in advance can effectively reduce the overall resistance, and then deep scarification of the soil can effectively cut off the soil capillary tube and reduce the movement of salt in the lower soil to the surface with water evaporation.

[0004] With the improvement of the agent into the soil, unlike the previous way of sowing, the land needs to be plowed again. This design can place the improvement agent in the soil in a positive form to achieve the purpose of desalination, salt washing and alkali reduction. The existing improvement agent discharge system relies on manual adjustment or open-loop control and cannot match the travel speed of the working machine in real time, resulting in large fluctuations in the discharge amount of the improvement agent, significant waste of resources, and insufficient dynamic response of traditional control algorithms in complex soil environments. The problem of parameter solidification is prominent, it is difficult to adapt to changing working conditions, and it affects the working accuracy. In addition, the conventional optimization method is easy to fall into local optimal solution, which further limits the stability of the control system. Intelligent discharge of the improvement agent can greatly reduce the waste of manpower and material resources, and can better improve the physical and chemical properties of saline-alkali soil.

[0005] The low-resistance deep scarification and fertilizer spreading machine for saline-alkali soil based on adaptive control is generally provided with basic components such as deep scarification shovel, modifier box, deep scarification discharge shovel, multi-leaf discharger, stepping motor, sensor and controller, and simultaneously completes soil breaking, deep scarification, modifier discharging and soil covering and pressing under the traction of power machinery. The unique design of multifunctional combination is for the innovation. The principle improvement is, for example, triangular soil breaking, layered deep scarification, solid-state modifier discharging and the like. The triangular soil breaking can effectively break the hardening layer of the soil surface layer; the layered deep scarification technology can adjust the compactness of different soil layers; the algorithm innovation is that the stability and precision of the motor-driven multi-leaf discharger are directly related to the production efficiency. In order to stably control and reduce errors, a PID control strategy based on improved genetic algorithm is proposed to reduce oscillation, improve the stability of the system and speed up the dynamic response speed of the system, realize accurate discharging of the modifier, and effectively avoid the waste and unevenness of the modifier in the traditional discharging mode.

[0006] In the process of saline-alkali soil improvement, due to the special soil condition and physicochemical properties of saline-alkali soil, most of the existing deep scarification machines do not preferentially break the soil but directly deep scarify, so that the structural rigidity cannot be reached, resulting in large loss, and the modifier discharging is mostly in the form of spreading, which is poor in effect. Therefore, it is necessary to develop an adaptive and self-adjusting modifier discharging system and a deep scarification device suitable for saline-alkali soil. SUMMARY

[0007] The purpose of the application is to provide a low-resistance deep scarification and fertilizer spreading machine for saline-alkali soil based on adaptive control, which solves the problems of large working resistance, uneven modifier application and low efficiency in the prior art by means of double-discharge shovel cooperative design, improved genetic algorithm PID control and integrated operation process, and realizes efficient and accurate deep scarification and improvement of saline-alkali soil.

[0008] To achieve the above-mentioned purpose, the technical scheme of the present application is:

[0009] The technical scheme is: the saline-alkali soil low-resistance deep scarification fertilizer distributor based on adaptive control, characterized in that: a rack is connected with a tractor through a three-point suspension mechanism; an amendment tank and an amendment tank fixing plate are arranged above the rack; a soil breaking shovel and a deep scarification discharge shovel are arranged below the rack respectively; the installation height of the front soil breaking shovel is lower than that of the rear deep scarification discharge shovel, the shovel spacing is 425 mm; the soil breaking shovel located at the frontmost position of the rack is the first soil entering device; the soil breaking shovel is divided into a shovel handle and a shovel tip; the soil cutting angle of the shovel handle is a=45°, the vertical height of the shovel handle is L1=600 mm, the front-rear length is L2=260 mm, the left-right thickness is L3=30 mm, and the soil entering height is L4=250 mm; the shovel tip is a triangular soil breaking shovel with a length of L5=150 mm, a shovel tip opening angle of b=60°, and a soil entering angle of c=20°, and is fixed on the rack by a H-shaped deep scarification shovel fixing plate; each H-shaped deep scarification shovel fixing plate is provided with a bolt hole at each corner and corresponds to a bolt hole on the rack; the soil entering angle of the deep scarification discharge shovel is e=60°, the side soil cutting angle is f=45°, and the soil entering radian angle is g=60°; the discharge angle of the discharge pipe is h=60°; the deep scarification discharge shovel is also connected to the rack by the H-shaped deep scarification shovel fixing plate and the bolt nut. A soil settling roller is further arranged below the rack, and the soil settling roller is provided with trapezoidal soil settling teeth with a top length of 50 mm, a height of 50 mm, a bottom length of 100 mm, and a top opening angle of d=120°; the tooth spacing is 425 mm; the amendment tank is arranged above the rack, and the bottom of the amendment tank is provided with a multi-leaf discharge device and four discharge ports; the multi-leaf discharge device has a five-leaf semi-circular structure with a blade radius of 145 mm; the discharge ports are connected to the discharge pipes of the rear deep scarification discharge shovels through conduits in a one-to-one correspondence; the rotating shaft of the multi-leaf discharge device is connected to a two-item hybrid stepping motor; the motor is driven by an intelligent control system; the intelligent control system includes a speed sensor for real-time collection of the traveling speed of the tractor, an encoder for real-time detection of the rotating speed of the multi-leaf discharge device, and a controller for generating a control signal based on the real-time data of the traveling speed of the tractor and the rotating speed of the multi-leaf discharge device by improving the genetic algorithm dynamic optimization PID parameters (K P , K I , K D ); and the rotating speed of the multi-leaf discharge device is accurately adjusted according to the control signal generated by the intelligent control system, so as to realize real-time dynamic matching of the amendment discharge amount and the traveling speed of the tractor and ensure the uniformity of amendment application at different working speeds.

[0010] As a further scheme of the present application: characterized in that: the frame is integrally provided with five cross beams, the first cross beam is provided with three-point suspension fixing parts and left and right side amendment tank fixing plates, the first cross beam (13) is connected with the second cross beam at the three-point suspension, the second cross beam is provided with a deep loosening shovel fixing plate for connecting and fixing the several-shaped fixing plate with the soil breaking deep loosening shovel, the third cross beam and the fourth cross beam are respectively located below the amendment tank for fixing the amendment tank, the fifth cross beam is located below the third cross beam and is provided with a deep loosening shovel fixing plate for fixing the deep loosening shovel thereon, each cross beam is directly connected with a vertical beam, the fifth cross beam is extended with a vertical beam at the rear for fixing the soil roller, and the distance between each cross beam is 350 mm and the length of the vertical beam is 200 mm.

[0011] As a further scheme of the present application: the distance between the soil breaking shovel and the deep loosening shovel is 425 mm, which is consistent with the trapezoidal soil pressing tooth distance of the soil roller, so as to ensure the uniformity of the pressing and covering. The connection angle between the vertical beam and the cross beam is 90°, the welding seam adopts double-sided continuous welding, and the welding leg height is 6 mm.

[0012] As a further scheme of the present application: characterized in that: the parameters of the PID controller are optimized by using the improved genetic algorithm, and the steps are as follows:

[0013] Step one: initialize the PID parameter population, randomly generate the initial value range of K P , K I , and K D : K P ∈[0,10], K I ∈[0,5], K D ∈[0,2];

[0014] Step two: improve the genetic algorithm, and the specific implementation manner is: improve the fitness function of the genetic algorithm, introduce a constraint strategy s(t), so as to increase the selection of high fitness and high matching degree individuals; and comprehensively consider the system deviation, control output and response time:

[0015]

[0016] Wherein, e(t) is the system deviation (the difference between the target speed and the actual speed), u(t) is the controller output, t u is the system rise time, and s(t) is the constraint function (suppresses overshoot);

[0017] Step three: high fitness individuals are screened by roulette selection method, and the crossover probability P c and the mutation probability P m are dynamically adjusted:

[0018]

[0019] In the formula, F avg is the average fitness of the population, F max is the maximum fitness, and F' is the larger fitness value in the crossed individuals.

[0020] Step four: iteratively perform the selection, crossover and mutation operations until the fitness converges or the maximum number of iterations is reached, and output the optimal PID parameters.

[0021] As a further aspect of the application: characterized in that, in step 2, the constraint function s(t) is defined as:

[0022]

[0023] where alpha is a penalty coefficient, and the fitness value is reduced in proportion when the overshoot exceeds 5%, forcing the algorithm to prefer low overshoot solutions.

[0024] Further, characterized in that: the controller communicates with the tractor control system through the CAN bus, real-time acquires the travel speed signal, and combines the multi-leaf discharger speed feedback to construct a closed-loop control model, and its transfer function is:

[0025]

[0026] In the formula, T f is the filter time constant, used to suppress high-frequency noise and ensure the stability of the control signal.

[0027] Beneficial effects: 1. Compared with the prior art, the present application is very suitable for the special conditions and physicochemical properties of saline-alkali soil, and integrates the functions of soil-breaking subsoiling and precise amendment discharge. The overall design structure is compact and the layout is reasonable. Based on the soil shear mechanical properties and the breaking dynamics model, the geometric configuration and spatial layout of the front and rear shovels are optimized. The front row is a soil-breaking shovel, and the triangular shovel tip is designed to guide the soil shear surface to slide and form a wedge-shaped splitting effect, significantly reducing the tillage resistance and effectively breaking the saline-alkali soil crust layer; the rear row is a subsoiling discharge shovel, which adopts a streamline curved surface design to effectively cut off the soil capillary and inhibit salt upward migration; the built-in discharge pipe is connected with the amendment tank, and the subsoiling can directly deliver the amendment to the soil bottom layer, avoiding the failure of surface spreading.

[0028] 2. The global optimization characteristics of the improved genetic algorithm are combined with the dynamic response capability of the PID control to construct an intelligent control system with adaptive capability. The adaptive intelligent dynamic control optimizes the PID parameters based on the improved genetic algorithm, dynamically adjusts the crossover probability (P C ) and mutation probability (P m), solve the problem of lack of adaptability caused by fixed traditional PID parameters, combine with overshoot constraint function to suppress oscillation and realize global optimization; through feedback of speed sensor and encoder, build a closed-loop control system to accurately adjust the speed of the multi-leaf distributor and ensure that the amount of modifier discharged is real-time synchronized with the speed of the tractor; at the same time, introduce low-pass filter noise reduction to suppress high-frequency interference signals, reduce overshoot and improve response speed, and the three work together to form an adaptive intelligent control system of dynamic parameter adjustment-real-time feedback regulation-high-frequency noise suppression.

[0029] 3The three-point suspension design of the application realizes quick disassembly and assembly, combines with the integrated operation mode of "soil breaking-deep loosening-modifier application-pressing", and completes the whole process of saline-alkali soil improvement at a time. The front row of shovels breaks the hardened layer to reduce the tillage resistance; the rear row of shovels simultaneously deep loosens and accurately applies the modifier to the bottom layer. The soil pressing roller (tooth spacing 425 mm) has the same spacing as the shovel. Single operation reduces the number of mechanical back-and-forth trips and reduces the risk of secondary soil compaction. The soil breaking shovel and the deep loosening and material discharging shovel are fixed on the rack by positioning bolts through the letter-shaped fixed plate, and there are also left and right fixed plates on the top of the rack to fix the material box, which is convenient to adjust, firm to fix and has large structural strength. The three-point suspension mechanism is firm in structure, suitable for various tractor models, and greatly improves the operation flexibility. BRIEF DESCRIPTION OF DRAWINGS

[0030] Figure 1 is a front view of the application

[0031] Figure 2 is a left view of the application

[0032] Figure 3 is a schematic view of the rack structure of the application

[0033] Figure 4 is a schematic view of the structure of the shovel handle of the soil breaking shovel

[0034] Figure 5 is a schematic view of the structure of the shovel tip of the soil breaking shovel

[0035] Figure 6 is a schematic view of the structure of the deep loosening and material discharging shovel

[0036] Figure 7 is a schematic view of the structure of the modifier box

[0037] Figure 8 is a schematic view of the structure of the multi-leaf material distributor

[0038] Figure 9 is a schematic view of the structure of the soil pressing roller

[0039] Figure 10 is a strain diagram of the triangular soil breaking shovel

[0040] Figure 11Deep loosening shovel - soil particle simulation diagram

[0041] Figure 12 Intelligent Control System Flowchart

[0042] Figure 13 Simulation results comparison chart

[0043] Figure 14 Improved genetic algorithm flowchart Figure 15 Figure for the abstract Detailed Implementation

[0044] The following description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of the present invention should be included within the scope of protection of the present invention.

[0045] like Figures 1 to 14 As shown, the present invention discloses a soil-breaking and deep-tillage machine for intelligent discharge of soil conditioner in saline-alkali land, comprising a frame 1, an conditioner tank 2 and a tractor three-point suspension mechanism 3 on the top of the frame 1, and a soil-pressing roller connecting frame 24 and a soil-pressing roller 8 connected at the rear of the frame 1. The multi-leaf feeder 23 in the conditioner tank 2 is driven by a motor 4 via a reducer 9. The drive signal of the motor 4 is provided by a driver placed in the controller box 10. After the multi-leaf feeder 23 in the conditioner tank 2 is disturbed by the motor 4, it enters the discharge port 21 of the conditioner tank, and then the conditioner is transmitted through a conduit to the discharge pipe 20 of the deep-tillage discharge shovel 7, so that the conditioner is put into the trench dug by the deep-tillage shovel and then into the soil as the tractor moves forward.

[0046] The frame 1 is equipped with a three-point suspension mechanism 3 and an amendment tank fixing plate 11 on the first crossbeam 13. The first crossbeam 13 is connected to the second crossbeam 14 at the three-point suspension point to increase the connection rigidity and ensure the stability of the overall structure. The second crossbeam 14 is provided with a deep loosening shovel fixing plate 12 for connecting and fixing the Z-shaped fixing plate 5 to the deep loosening shovel 6. The deep loosening shovel limiting plates 12 are spaced 425mm apart and are directly fixed to the frame by welding. Each limiting plate has bolt holes at its four corners. The third crossbeam 15 and the fourth crossbeam 16 are located below the amendment tank 2. The fifth crossbeam 17, located below the third crossbeam 15, is used to fix the soil conditioner box 2. It is equipped with a deep loosening shovel limiting plate with a spacing of 425mm. Spatially, it is on the same straight line as the limiting plate on the second crossbeam. This greatly reduces the resistance and wear of the deep loosening discharge shovel after the breaking shovel 6 breaks and separates the surface soil. The deep loosening discharge shovel 7 is fixed on it. Each crossbeam has a vertical beam directly connected to it. The fifth crossbeam 17 has a vertical beam extending behind it to fix the soil roller. The distance between each crossbeam is 350mm, and the length of the vertical beam is 200mm.

[0047] The discharge agent tank 2 is placed on the third cross beam 15 and the fourth cross beam 16, fixed with the discharge tank fixing plate 11, to ensure the stability of the discharge tank body. During the travel of the tractor, the soil breaking shovel 6 first contacts the soil and cuts into the 150mm surface layer of the hardened soil, breaking and arching the soil, which is then cut again by the shovel handle 18, achieving the purpose of soil breaking and crushing. To ensure the best degree of soil breaking and smaller soil penetration resistance, the soil cutting angle of the shovel handle is a = 45°, the vertical height of the shovel handle is L1 = 600mm, the front and rear length is L2 = 260mm, the left and right thickness is L3 = 30mm, and the soil penetration height is L4 = 250mm. The shovel tip is a triangular soil breaking shovel with a length of L5 = 150mm, a shovel tip opening angle b = 60°, and a shovel tip soil penetration angle c = 20°. After soil breaking, the deep loosening discharge shovel 7 is used again to loosen the soil. The deep loosening discharge shovel 7 has a circular arc profile line, which is composed of a straight line segment, a circular arc segment, and a straight line segment from the center to both sides, reducing the soil penetration resistance and ensuring the strength of the shovel tip. The soil penetration angle of the deep loosening discharge shovel 7 is e = 60°, the side soil cutting angle is f = 45°, and the soil penetration arc angle is g = 60°. To ensure that the amendment enters the deep loosening discharge shovel through the discharge pipe 20 from the discharge port 21 under the action of gravity, the discharge pipe discharge angle is h = 60°, ensuring that the amendment enters the soil smoothly without accumulation. After the amendment enters the soil, the soil roller 8 is used again to cover and compact the soil as the tractor advances. The soil roller 8 is connected to the frame 1 through the soil roller frame 24, which is provided with multiple sets of screw holes for adjusting the height up and down. The soil breaking shovel 6 and the deep loosening discharge shovel 7 can also be adjusted in height to adapt to different land conditions. The soil roller 8 is provided with multiple sets of soil roller teeth 26, each set having eight teeth, a total of four sets, with a spacing of 425mm between each set. The soil roller teeth 26 are arranged in a trapezoidal shape with a top length of 50mm, a height of 50mm, a bottom length of 100mm, and a top opening angle d = 120°, which can more effectively compact the soil and provide better soil covering effect. The amendment tank 2 is provided with four discharge ports 21 at the bottom, which are in the shape of a funnel. The amendment tank 2 has a large capacity and can hold a large amount of material without the need for frequent refilling. The material is evenly discharged through the disturbance of the multi-leaf discharger 23. The frame 1 is made of 10mm x 10mm square steel tubes welded together. According to the principle of force balance, the first cross beam 13 and the second cross beam 14 are also connected by vertical beams at necessary positions, forming a rectangular array to enhance the overall stability.

[0048] The force and strain of the triangular soil breaking shovel are as follows: Figure 10As shown, at the moment when the triangular breaking shovel just touches the soil and begins to enter the soil, it mainly bears vertical downward pressure and horizontal friction. The vertical pressure: the power applied by the agricultural implement pushes the shovel tip downward to cut into the soil. Because the area of the triangular tip is smaller than that of the conventional tip, under the same power, the vertical pressure per unit area increases. According to the pressure formula, the smaller tip area increases the pressure, thereby enabling more efficient breakthrough of the compact layer on the surface of the soil; during operation, when the triangular breaking shovel continues to travel in the soil, it mainly bears the resistance of the soil in front and the extrusion force on the side, and as the tip penetrates into the soil, the soil in front generates a great resistance to the tip. The triangular tip concentrates the force on a smaller area, point-to-surface, to destroy the soil structure, reducing the reaction force of the soil on the entire shovel body. After the soil around the tip is stressed, it will displace and deform in all directions, forming a certain loose area, reducing the resistance of the subsequent shovel body traveling. The soil exerts an extrusion force on the side of the shovel body, which increases with the increase of the penetration depth. The force is divided into vertical and horizontal components, the vertical component helps to increase the stability of the shovel body into the soil, and the horizontal component assists the tip to further break and push the soil on the side, making the soil particles disperse to both sides and expanding the loose range of the soil.

[0049] The soil particle velocity distribution and force distribution of the triangular breaking shovel are shown in Figs. a and b. Figure 11 As can be seen from the velocity simulation diagram a, the soil particles around the deep loosening shovel triangular tip move significantly faster. Because of the wedge-shaped design of the triangular tip, its contact area with the soil is smaller. Under the same operating force, the smaller contact area enables the tip to cut into the soil more efficiently, giving more kinetic energy to the surrounding particles, quickly breaking the soil structure. The particles away from the tip (velocity decreases) indicate that the disturbance of the tip to the soil spreads outward from the center, not only achieving efficient breaking of the core area of the soil, but also reducing energy loss. As shown in the force simulation diagram b, the soil particles at the triangular tip bear more concentrated force. The shape of the triangular tip forms a concentrated force when it contacts the soil, making it easy to break through the compact state of the soil. The design of the tip edge can disperse the force to the side, driving the surrounding particles (green area) to move laterally, not only expanding the soil breaking range, but also reducing the resistance to the tip advancing. Compared with the conventional shovel, the triangular breaking shovel is more efficient and effective in breaking soil, and is more suitable for saline-alkali land cultivation.

[0050] The intelligent control system optimizes the parameters of the PID controller using an improved genetic algorithm, and the improved genetic algorithm process is shown in Fig. Figure 14 The specific steps are as follows:

[0051] Step 1: Parameter determination and population initialization

[0052] According to the characteristics of the control system, K P , KI , K D The parameters are encoded according to the precision of the parameters and the requirements of the actual situation after the ranges of the parameters are determined. After the parameters are encoded, the initial parameters of the genetic algorithm are set.

[0053] Step two: The genetic algorithm is improved by calculating the optimized value of the objective function and the fitness of each individual. The fitness function of the genetic algorithm is improved. The fitness function is the key of the genetic algorithm, and the design of the fitness function directly affects the quality of the algorithm.

[0054] Whether the PID regulation parameters are optimal is measured from the overshoot, maximum dynamic deviation and adjustment time and other indicators. A constraint strategy s(t) is introduced to increase the selection of individuals with high fitness and high matching degree. The system deviation, control output and response time are integrated:

[0055]

[0056] Where e(t) is the system deviation (the difference between the target speed and the actual speed), u(t) is the controller output, t u is the system rise time, s(t) is the constraint function (suppresses overshoot), w1, w2, w3 are weight constants, and w4 is the weighted value

[0057] The constraint function s(t) is defined as

[0058]

[0059] Where α is the penalty coefficient. When the overshoot exceeds 5%, the fitness value is reduced in proportion, forcing the algorithm to prefer low overshoot solutions.

[0060] Step three: High fitness individuals are selected by roulette wheel selection method, and the crossover probability P c and the mutation probability P m are dynamically adjusted. This makes individuals with lower fitness have higher mutation and crossover probabilities, while individuals with higher fitness still have the possibility of mutation and crossover, which to some extent protects the optimal individuals in the later evolution and reduces the possibility of local convergence.

[0061] The dynamic adjustment formula is:

[0062]

[0063]

[0064] In the formula, F avg is the average fitness of the population, F max is the maximum fitness, and F' is the larger fitness value among the crossover individuals.

[0065] Step four: iteratively perform selection, crossover, mutation operations until fitness converges or reaches the maximum number of iterations, output the optimal PID parameters.

[0066] The intelligent control system flow chart is shown in Figure 12 The controller communicates with the tractor control system through CAN bus, real-time acquires the travel speed signal, and combines the speed feedback of the multi-leaf discharger 23 to construct a closed-loop control model, and the transfer function is:

[0067]

[0068] In the formula, T f is the filter time constant, used to suppress high-frequency noise and ensure the stability of the control signal.

[0069] In the intelligent control system, high-frequency noise mainly comes from tractor engine vibration, mechanical transmission component friction and electromagnetic interference. The motor drive system adopts a two-phase hybrid stepper motor. The comparison chart of the final optimization result is shown in Figure 13 .

[0070] The worker installs the soil-breaking deep scarifier discharger through three-point suspension on the rear of the tractor, then adjusts the height of the soil-breaking shovel 6, the deep scarifying discharger shovel 7 and the soil roller 8 according to the actual ground conditions, fills the modifier tank 2 with the modifier, operates the handle of the tractor drive hanger, and gradually enters the whole deep scarifier into the appropriate depth along with the forward movement of the tractor, the soil roller 8 rotates normally, the motor 4 rotates to drive the multi-leaf discharger 23 to rotate and discharge the modifier, which falls into the discharging pipe 20 by gravity, and then the soil roller 8 compacts, finally the soil is leveled, and the compacted layer is broken, the soil permeability and permeability are significantly improved, and the purpose of desalination, salt washing and alkali reduction can be achieved with the discharge of the modifier. The soil-breaking deep scarifier for salt-alkali soil modifier discharge provided by the application can cross smooth operation, can deep scarify and discharge four furrows of modifier at a time, has compact and firm structure, small deep scarifying resistance, good soil loosening effect, large fertilizer tank 2 loading capacity, strong discharging performance for the modifier, and the modifier penetrates into the soil, which obviously improves the land improvement condition and reduces the loss. The intelligent control system greatly improves the problem of uneven discharge of the modifier. The soil-breaking deep scarifier for salt-alkali soil modifier discharge has fast operation speed and high precision, and meets the agricultural requirements of salt-alkali soil deep scarification and improvement.

[0071] In the description of the present patent, it needs to be understood that the terms "center", "upper", "lower", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inner", "outer" and the like indicate the orientation or positional relationship shown in the drawings based on the orientation or positional relationship shown in the drawings, and are only for the purpose of facilitating the description of the present patent and simplifying the description, and do not indicate or imply that the device or element referred to must have a particular orientation, be constructed and operated in a particular orientation, and therefore cannot be understood as a limitation on the present patent.

[0072] As described above, although the present application has been shown and described with reference to a certain preferred embodiment, it is to be understood that such is by way of illustration and not of limitation. Various substitutions and modifications can be made without departing from the spirit and scope of the present application as defined in the appended claims.

Claims

1. A low-resistivity deep loosening and fertilizer spreading machine for saline-alkali land based on adaptive control, characterized in that: The machine includes a frame (1), which is connected to the tractor via a three-point suspension mechanism (3); an amendment tank (2) and an amendment tank fixing plate (11) are provided on the top of the frame; a soil-breaking shovel (6) and a deep-loosening discharge shovel (7) are provided below the frame (1); the installation height of the front row soil-breaking shovel (6) is lower than that of the rear row deep-loosening discharge shovel (7), and the shovel spacing is 425mm; the soil-breaking shovel (6) is located at the front of the frame and is the first device to enter the soil; the soil-breaking shovel is divided into a shovel handle and a shovel tip; the soil-cutting angle of the shovel handle is a = 45°; the vertical height of the shovel handle is L1 = 600mm; the front-to-back length is L2 = 260mm; the left-to-right thickness is L3 = 30mm; and the soil-entry point is... The height L4 = 250mm, the shovel tip is a triangular soil-breaking shovel with a length L5 = 150mm, a shovel tip angle b = 60°, and a shovel tip soil-entry angle c = 20°, and is fixed to the frame by a Z-shaped deep loosening shovel fixing plate (5). Each Z-shaped deep loosening shovel fixing plate (5) has bolt holes at the four corners and corresponds to the bolt holes on the frame. The soil-entry angle of the deep loosening discharge shovel (7) is e = 60°, the side soil-cutting angle is f = 45°, the soil-entry arc angle is g = 60°, and the discharge angle of the discharge pipe (20) is h = 60°. The deep loosening shovel breaking shovel (6) is also connected to the frame (1) by the Z-shaped deep loosening shovel fixing plate (5) and bolts and nuts. Below the frame, there is a soil-pressing roller (8). The soil-pressing roller has trapezoidal soil-pressing teeth (26) with a top length of 50mm, a height of 50mm, a bottom length of 100mm, and a top opening angle d = 120°. The tooth spacing is 425mm. The amendment box (2) is located above the frame (1). Its bottom is equipped with a multi-leaf feeder (23) and four discharge ports (21). The multi-leaf feeder (23) has a five-leaf semi-circular structure with a blade radius of 145mm. The discharge ports (21) are connected to the rear discharge through a guide tube. The discharge pipes (20) of the deep loosening discharge shovel (7) correspond one-to-one; the rotating shaft (22) of the multi-bladed discharger is connected to a two-phase hybrid stepper motor, which is driven by an intelligent control system. The intelligent control system includes a speed sensor for real-time acquisition of the tractor's travel speed; an encoder for real-time detection of the rotation speed of the multi-bladed discharger (23); and a controller that dynamically optimizes the PID parameters (K) based on the real-time data of the tractor's travel speed and the rotation speed of the multi-bladed discharger (23) through an improved genetic algorithm. P K I K D The system generates control signals; the motor drive system adjusts the speed of the multi-bladed feeder (23) according to the control signals to achieve real-time matching and dynamic adjustment of the additive discharge amount and the tractor travel speed, with a discharge error of less than 3%.

2. The low-resistivity deep loosening and fertilizer spreading machine for saline-alkali land based on adaptive control according to claim 1, characterized in that: The frame (1) is provided with five crossbeams. The first crossbeam (13) is provided with a three-point suspension fixing piece (3) and left and right side amendment box fixing plates (11). The first crossbeam (13) is connected to the second crossbeam (14) at the three-point suspension point. The second crossbeam (14) is provided with a deep loosening shovel fixing plate (12) for connecting and fixing the Z-shaped fixing plate (5) to the deep loosening shovel (6). The third crossbeam (15) and the fourth crossbeam (16) are respectively located below the amendment box (2) for fixing the amendment box (2). The fifth crossbeam (17) is located below the third crossbeam (15) and is provided with a deep loosening shovel fixing plate to fix the deep loosening application shovel (7) on it. Each crossbeam has a vertical beam directly connected to it. The fifth crossbeam (17) has a vertical beam extending behind it for fixing the soil roller. The distance between each crossbeam is 350mm and the length of the vertical beam is 200mm.

3. The low-resistivity deep loosening and fertilizer spreading machine for saline-alkali land based on adaptive control according to claim 2, characterized in that: The spacing between the soil-breaking shovel and the deep loosening discharge shovel is 425mm, which is consistent with the spacing of the trapezoidal soil-pressing teeth (26) of the soil-pressing roller (8), ensuring uniform compaction coverage. The connection angle between the vertical beam and the horizontal beam is 90°, and the weld is a double-sided continuous weld with a weld leg height of 6mm.

4. The low-resistivity deep loosening and fertilizer spreading machine for saline-alkali land based on adaptive control according to claim 1, characterized in that: The steps for optimizing the parameters of the PID controller using an improved genetic algorithm are as follows: Step 1: Initialize the PID parameter population and randomly generate K. P K I K D Initial value range: K P ∈[0,10],K I ∈[0,5],K D ∈[0,2]; Step 2: Improve the genetic algorithm. Specifically, improve the fitness function of the genetic algorithm by introducing a constraint strategy s(t) to increase the selection of individuals with high fitness and high matching degree. The objective optimization function is shown in equation (1), which takes into account system bias, control output, and response time. Where e(t) is the system deviation (the difference between the target speed and the actual speed), u(t) is the controller output, and t u Let s(t) be the system rise time, and s(t) be the constraint function (to suppress overshoot). Step 3: Select high-fitness individuals using roulette wheel selection and dynamically adjust the crossover probability P. C With the probability of mutation P m The dynamic adjustment formula is shown in equation (2): In the formula, F avg F represents the average fitness of the population. max F′ represents the maximum fitness value, where F′ is the largest fitness value among the crossover individuals. Step 4: Iteratively execute selection, crossover, and mutation operations until the fitness converges or the maximum number of iterations is reached, and output the optimal PID parameters.

5. The parameter optimization method for an adaptive PID controller according to claim 4, characterized in that, In step 2, the constraint function s(t) is shown in equation (3): Here, α is the penalty coefficient. When the overshoot exceeds 5%, the fitness value is reduced proportionally, forcing the algorithm to prioritize low overshoot.

6. The intelligent control system according to claim 1, characterized in that: The controller communicates with the tractor control system via the CAN bus to acquire the travel speed signal in real time. Combined with the speed feedback of the multi-bladed feeder (23), a closed-loop control model is constructed, and its transfer function is shown in equation (4). In the formula, T f This is the filter time constant, used to suppress high-frequency noise and ensure the stability of the control signal.

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