Seeder speed change rate adjusting method for soil compaction reduction

Abstract

The invention discloses a sower speed change rate adjusting method for soil compaction and reduction, and relates to the field of agricultural machinery. The invention aims to solve the problem of acceleration change rate control in the operation process of the seeder. According to the sower speed change rate adjusting method for soil compaction reduction, the acceleration, the acceleration change rate and the soil compaction degree of a sower are collected in real time; calculating a soil compaction degree error according to the soil compaction degree; pID adjustment is carried out according to the accelerated speed of the seeder and the soil compaction degree error, and the accelerated speed change rate after adjustment is obtained. By combining high-precision acceleration measurement, real-time soil compaction degree monitoring and PID control technologies, dynamic adjustment of the acceleration change rate of the seeder is realized, so that the soil compaction degree is effectively reduced, and the agricultural production efficiency and the crop yield are improved.

Description

Technical Field

[0001] The invention belongs to the field of agricultural machinery. Background Art

[0002] With the continuous improvement of the level of modern agricultural mechanization, the application of seed drills in agricultural production is becoming more and more extensive. However, the soil compaction phenomenon generated during the operation of the seed drill has a significant negative impact on the crop growth environment and yield. Excessive soil compaction will lead to a reduction in soil porosity, hinder the infiltration and circulation of water, nutrients and air, and is not conducive to the development of crop roots, thereby reducing crop yields. Therefore, how to effectively reduce the degree of soil compaction has become one of the important topics in the research of modern agricultural machinery. By adjusting the acceleration rate of the seed drill, the force of the seed drill on the soil can be dynamically controlled, thereby effectively reducing the degree of soil compaction. However, the research and application of acceleration rate control is still in its infancy and still faces the following challenges:

[0003] 1. Real-time acceleration control: The operating environment of the seed drill is complex, requiring the control system to be able to quickly respond to changes in soil conditions while avoiding mechanical jitter caused by improper acceleration adjustment.

[0004] 2. Real-time monitoring and feedback of soil compaction: It is necessary to build a high-precision compaction measurement model and realize rapid processing and feedback of monitoring data to support closed-loop control.

[0005] 3. Stability and adaptability of control algorithms: In different operating scenarios, control algorithms need to take into account both rapid response and system stability to ensure the continuity and efficiency of the operating process. Summary of the invention

[0006] The present invention aims to solve the problem of controlling the acceleration change rate during the operation of a seeder, and provides a method for adjusting the speed change rate of a seeder for reducing soil compaction.

[0007] A method of adjusting the planter speed rate for soil compaction reduction includes:

[0008] Collect the seeder's acceleration, acceleration change rate and soil compaction in real time;

[0009] calculating a soil compaction error based on the soil compaction;

[0010] The acceleration of the seeder and the soil compaction error are used to perform PID adjustment to obtain an adjusted acceleration change rate.

[0011] Furthermore, the above-mentioned method for adjusting the speed change rate of the planter for reducing soil compaction also includes:

[0012] Calculate the target speed v using the adjusted acceleration rate of change target , according to the target speed v target Generates a voltage signal to drive the motor to accelerate or decelerate.

[0013] Furthermore, the acceleration and acceleration change rate of the seeder are collected, including:

[0014] The sensor is used to collect the linear acceleration of the seed drill in real time, and the acceleration change rate is calculated using the finite difference method:

[0015]

[0016] Where a is the linear acceleration, is the acceleration change rate, Δt is the sampling time interval, and t is the sampling time.

[0017] Furthermore, soil compaction data is collected, including:

[0018] The pressure sensor is used to obtain the soil pressure sensing data in real time, and the pressure sensing data is converted into soil compaction through the calibration model:

[0019] C real = k·P,

[0020] Among them, C real is the soil compaction degree, k is the calibration model coefficient, and P is the pressure sensor data.

[0021] Furthermore, the calculating of the soil compaction error according to the soil compaction degree includes:

[0022] e C =C real -C target ,

[0023] Among them, e C is the soil compaction error, C target is the target compaction degree.

[0024] Furthermore, the above-mentioned PID adjustment is performed using the acceleration of the seeder and the soil compaction error to obtain the adjusted acceleration change rate, including:

[0025]

[0026] Among them, u(t) is the PID adjustment result, e C is the soil compaction error, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient, is the adjusted acceleration rate of change.

[0027] Furthermore, the above-mentioned calculation of the target speed using the adjusted acceleration change rate includes:

[0028]

[0029] Among them, v target is the target speed, v current is the current actual speed, and Δt is the sampling time interval.

[0030] Furthermore, according to the target speed v target After the voltage signal is generated, the voltage signal is low-pass filtered and then the motor is driven to accelerate or decelerate.

[0031] The present invention proposes a method and system for adjusting soil compaction degree of a seed drill based on acceleration change rate control. By combining high-precision acceleration measurement, real-time soil compaction degree monitoring and PID control technology, dynamic adjustment of the acceleration change rate of the seed drill is achieved, thereby effectively reducing soil compaction degree and improving agricultural production efficiency and crop yield. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 A flow chart of a method for adjusting planter speed rate for soil compaction reduction. DETAILED DESCRIPTION

[0033] The following will be combined with the accompanying drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, rather than all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work belong to the scope of protection of the present invention. It should be noted that the embodiments of the present invention and the features in the embodiments can be combined with each other without conflict.

[0034] Reference Figure 1 Specifically describing this embodiment, the method for adjusting the speed change rate of a planter for reducing soil compaction described in this embodiment includes:

[0035] 1. Acceleration measurement

[0036] The linear acceleration of the planter is collected in real time using a high-precision IMU sensor, and the continuous sampling points are numerically differentiated. The finite difference method is used to calculate the acceleration change rate:

[0037]

[0038] Where a is the linear acceleration, is the acceleration change rate, Δt is the sampling time interval, and t is the sampling time.

[0039] 2. Soil compaction measurement

[0040] The pressure sensor is used to obtain the soil pressure sensing data in real time, and the pressure sensing data is converted into soil compaction C through the calibration model. real :

[0041] C real = k·P

[0042] Among them, k is the calibration model coefficient, which is 1.5; P is the pressure sensor data.

[0043] 3. Compaction error calculation

[0044] Calculate the soil compaction error e C :

[0045] e C =C real -C target ,

[0046] Among them, C target is the target compaction degree.

[0047] Calculating the rate of change of error using the finite difference method

[0048]

[0049] Accumulated error, used to eliminate long-term deviations:

[0050]

[0051] Among them, ∫e C dt represents the error integral.

[0052] 4. According to the soil compaction error e C The PID controller is used to dynamically adjust the acceleration rate of the seeder to make the soil compaction degree C real Close to target value C target , as follows:

[0053]

[0054] Where u(t) is the output of the PID controller, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient, It is the acceleration change rate after PID adjustment.

[0055] 5. Control execution

[0056] Using the acceleration rate after PID adjustment Calculate the target speed v target :

[0057]

[0058] Among them, v current It is the actual speed of the seeder.

[0059] According to the target speed v target Generate PWM signal or DAC voltage signal, use low-pass filtering algorithm to filter the voltage signal to avoid drastic fluctuations in acceleration adjustment, and then drive the motor to accelerate or decelerate, ensuring stable transmission of control signals and fast response.

[0060] In the above PID adjustment control process, the motor drive device is required to support PWM signal input and drive the propulsion device of the planter. The main control chip uses the STM32 series or ESP32 to achieve real-time signal processing. The communication module uses CAN bus or RS485 to ensure high-speed communication between the actuator and the controller.

[0061] At the same time, there is a safety control mechanism in the PID adjustment control process.

[0062] This mechanism sets the upper and lower safety limits of the acceleration rate of change and soil compaction, and continuously monitors the current acceleration rate of change and soil compaction. If the threshold is exceeded, an alarm signal is sent, and emergency braking is triggered to cut off the motor output. This ensures the safety of the control system under abnormal conditions and avoids equipment damage or excessive soil compaction. Its hardware requirements include:

[0063] Emergency brake device: independent of the main control chip, directly disconnects the motor in response to an over-limit signal.

[0064] Sensor redundancy design: cross-validation data of multiple groups of acceleration sensors.

[0065] In actual application, this embodiment also records parameters such as acceleration, soil compaction degree and its error in real time for subsequent analysis. The hardware requirements for this function include: SD card module or EEPROM for local storage. Wi-Fi module for uploading data to the cloud.

[0066] In actual application, this embodiment uses a touch screen to display real-time data and supports interaction, such as a TFT LCD screen. It is clear and intuitive, and the user can quickly understand the operation status. The interface includes a real-time data display area that displays acceleration, acceleration change rate, soil compaction and error. The operation area includes a start / stop operation button. The chart area is used to display the change curve of compaction over time.

[0067] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that the features described in conjunction with a single embodiment may be used in other described embodiments.

Claims

1. A method for adjusting the speed change rate of a planter for reducing soil compaction, characterized in that: include: Collect the seeder's acceleration, acceleration change rate and soil compaction in real time; calculating a soil compaction error based on the soil compaction; The acceleration of the seeder and the soil compaction error are used to perform PID adjustment to obtain an adjusted acceleration change rate.

2. The method for adjusting the speed change rate of a planter for reducing soil compaction according to claim 1, characterized in that: Also includes: Calculate the target speed v using the adjusted acceleration rate of change target , according to the target speed v target Generates a voltage signal to drive the motor to accelerate or decelerate.

3. The method for adjusting the speed change rate of a seeder for reducing soil compaction according to claim 1 or 2, characterized in that: Collect the acceleration and acceleration rate of the planter, including: The sensor is used to collect the linear acceleration of the seed drill in real time, and the acceleration change rate is calculated using the finite difference method: Where a is the linear acceleration, is the acceleration change rate, Δt is the sampling time interval, and t is the sampling time.

4. The method for adjusting the speed change rate of a planter for reducing soil compaction according to claim 3, characterized in that: Collect soil compaction data, including: The pressure sensor is used to obtain the soil pressure sensing data in real time, and the pressure sensing data is converted into soil compaction through the calibration model: C real =k·P, Among them, C real is the soil compaction degree, k is the calibration model coefficient, and P is the pressure sensor data.

5. The method for adjusting the speed change rate of a seeder for reducing soil compaction according to claim 1 or 2, characterized in that: The calculating the soil compaction error according to the soil compaction degree comprises: e C =C real -C target , Among them, e C is the soil compaction error, C target is the target compaction degree.

6. The method for adjusting the speed change rate of a planter for reducing soil compaction according to claim 3, characterized in that: The method of using the acceleration of the seeder and the soil compaction error to perform PID adjustment to obtain an adjusted acceleration change rate includes: Among them, u(t) is the PID adjustment result, e C is the soil compaction error, K P is the proportionality coefficient, K I is the integration coefficient, K D is the differential coefficient, is the adjusted acceleration change rate.

7. The method for adjusting the speed change rate of a planter for reducing soil compaction according to claim 2, characterized in that: The method of calculating the target speed by using the adjusted acceleration change rate comprises: Among them, v target is the target speed, v current is the current actual speed, and Δt is the sampling time interval.

8. The method for adjusting the speed change rate of a planter for reducing soil compaction according to claim 7, characterized in that: According to the target speed v target After the voltage signal is generated, the voltage signal is low-pass filtered and then the motor is driven to accelerate or decelerate.

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