No-tillage planter depth wheel automatic adjusting device and control method

Abstract

The invention relates to a no-tillage planter depth wheel automatic adjusting device and a control method. The device comprises an airborne upper computer, and a ground fluctuation height sensor and a driving motor which are respectively connected with the airborne upper computer; the ground fluctuation height sensor is arranged on the no-tillage planter body, detects a height signal between the ground fluctuation height sensor and the ground and sends the height signal to the airborne upper computer; the driving motor is installed on the no-tillage planter body, an output shaft of the driving motor is connected with a rotary adjusting rod of the depth wheel of the no-tillage planter, the rotary adjusting rod rotates to adjust the ground clearance gear of the depth wheel, and therefore the requirement for seeding height limiting of the depth wheel of the planter is met. According to the method, a Smith pre-estimation control method and a fuzzy PID (Proportion Integration Differentiation) are combined, and the method is used for controlling the rotating speed of the driving motor and has the characteristics of strong robustness and high response speed.

Description

Technical Field

[0001] The invention relates to automatic control of agricultural equipment, in particular to an automatic adjustment device and control method for a depth-limiting wheel of a no-tillage planter. Background Art

[0002] No-till planters are widely used in Northeast my country, but the current depth-limiting wheel adjustment mechanism for no-till planters is primarily manually adjustable, making it impossible to automatically adjust the depth-limiting wheel. Therefore, during actual field operations, while relevant sensors can detect changes in sowing depth, it is impossible to automatically adjust the depth-limiting wheel mechanism based on the actual changes in sowing depth during field operations. This results in inconsistent sowing depths in rugged plots of land, leading to low or no seedling emergence, which affects sowing quality and harvest yield. Therefore, it is particularly important to automatically adjust the height of the no-till planter's depth-limiting wheel above the ground to ensure sowing depth. Summary of the Invention

[0003] Aiming at the problem that the height of the depth-limiting wheel of my country's no-till seeding machine cannot be automatically adjusted from the ground, the automation and intelligence level of my country's no-till seeding machine is improved, the sowing quality and the subsequent harvest quality are guaranteed, and therefore the present invention proposes an automatic adjustment device and control method for the depth-limiting wheel of the no-till seeding machine.

[0004] The technical solution adopted in the present invention is:

[0005] The automatic adjustment device for the depth-limiting wheel of a no-till planter includes: an onboard host computer and a ground undulation height sensor and a drive motor respectively connected thereto; the ground undulation height sensor is arranged on the no-till planter body, detects the height between the ground and the sensor and sends a signal to the onboard host computer; the drive motor is installed on the no-till planter body, and its output shaft is connected to the rotary adjustment lever of the depth-limiting wheel of the no-till planter. The rotary adjustment lever is rotated to adjust the height position of the depth-limiting wheel from the ground, thereby adjusting the sowing height limit of the depth-limiting wheel of the planter.

[0006] The driving motor is installed on the no-tillage seeder body through a driving motor outer cover, and the motor output shaft of the driving motor is connected to the rotation adjustment rod of the depth-limiting wheel through a driving connecting shaft.

[0007] One end of the driving connecting shaft is connected to the output shaft of the driving motor through a jackscrew, and the other end is connected to the rotation regulating rod of the depth limiting wheel of the no-tillage planter through a jackscrew.

[0008] The motor output shaft of the driving motor is provided with a motor connection end top screw hole, which is connected to the driving connecting shaft through a top screw. The other end of the rotating rod of the driving connecting shaft is provided with a top screw hole, which is connected to the rotating adjustment rod of the depth limiting wheel of the no-till seeder by top screw; when the output shaft of the driving motor rotates, the rotating adjustment rod of the depth limiting wheel of the no-till seeder is driven to rotate by the rotation of the driving connecting shaft, thereby automatically adjusting the height gear of the depth limiting wheel of the no-till seeder.

[0009] The driving motor outer cover is a box body with openings at the bottom and one side. The driving motor is arranged in the box body and mounted on a driving motor fixing plate. The side wall of the driving motor fixing plate is welded to the inner wall of the box body.

[0010] The drive motor fixing plate is provided with a drive motor mounting fixing hole, and the drive motor is provided with a fixing threaded hole, and the drive motor is fixedly mounted on the drive motor fixing plate by screw connection.

[0011] The driving motor outer cover is composed of a welded bottom plate, two welded side plates and a welded top plate; the two welded side plates are respectively provided with a bolt mounting hole, and the driving motor outer cover is fixed to the no-till planter unit through bolt connection.

[0012] The ground height sensor is an infrared distance sensor.

[0013] The onboard host computer is a PLC controller;

[0014] The driving motor is a brushless DC motor.

[0015] The invention discloses an automatic adjustment control method for a depth-limiting wheel of a no-till planter, comprising: controlling the rotation speed of a driving motor by combining a Smith predictive control method with a fuzzy PID controller, thereby controlling a rotary adjustment lever to rotate and adjust the ground clearance position of the depth-limiting wheel, thereby adjusting the ground clearance of the depth-limiting wheel.

[0016] The present invention has the following beneficial effects and advantages:

[0017] 1. The present invention relates to an automatic adjustment device and control method for the depth-limiting wheel of a no-till planter. The device has a compact design and is easy to install. In actual field operations, it can be quickly installed on a planter unit and can be expanded to multi-row seeding operations.

[0018] 2. The combination of Smith predictive control method and fuzzy PID can effectively regulate the speed of the DC brushless motor, ensuring that the automatic adjustment device of the depth limiting wheel can be adjusted smoothly and reliably, which is conducive to ensuring the consistency of the sowing depth.

[0019] 3. The device and method designed in the present invention help to improve the quality of sowing operations, increase land utilization and sowing efficiency. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 Schematic diagram of the device structure of the present invention;

[0021] Figure 2 A schematic diagram of the driving motor and welding cover of the present invention;

[0022] FIG3( a ) is a schematic diagram of a driving motor according to the present invention;

[0023] FIG3( b ) is a schematic diagram of a driving motor fixing plate of the present invention;

[0024] Figure 4 This is a schematic diagram of the welding cover structure of the present invention;

[0025] Figure 5 This is a schematic diagram of the installation of the automatic adjustment mechanism of the depth-limiting wheel and the sowing unit of the no-tillage seeder of the present invention;

[0026] Figure 6 This is a schematic diagram of the drive connecting shaft connection of the present invention;

[0027] Figure 7 This is the Smith-fuzzy PID control structure diagram of the present invention.

[0028] In the figure, 1 is the drive motor, 2 is the drive motor fixing plate, 3 is the welding cover, 4 is the drive connecting shaft, 5 is the airborne host computer, 6 is the ground undulation sensor, 7 is the rotary connecting rod, 1.1 is the fixed threaded hole, 1.2 is the motor output shaft, 2.1 is the drive motor mounting fixing hole of the drive motor fixing plate, 2.2 is the side wall of the drive motor fixing plate, 3.1 is the welding bottom plate, 3.2 is the welding side plate, 3.3 is the welding top plate, 3.4 is the bolt mounting hole, 4.1 is the top screw hole of the motor connection end, 4.2 is the rotating stem top screw hole of the drive connecting shaft, I is the welding cover installed on the no-till seeder, and II is the sowing unit mechanism. DETAILED DESCRIPTION

[0029] To make the above-mentioned objects, features, and advantages of the present invention more readily apparent, the specific implementation methods of the present invention are described in detail below with reference to the accompanying drawings. The following description sets forth many specific details to facilitate a full understanding of the present invention. However, the present invention can be implemented in many other ways than those described herein, and those skilled in the art may make similar modifications without departing from the scope of the invention. Therefore, the present invention is not limited to the specific implementation methods disclosed below.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by those skilled in the art of the present invention. The terms used in the specification of the invention herein are only for the purpose of describing specific embodiments and are not intended to limit the present invention.

[0031] The height of the depth-limiting wheel of the no-till seeder from the ground determines the sowing height. The purpose of the present invention is to drive the rotary adjustment rod 7 to rotate by the drive motor 1, thereby adjusting the height position of the depth-limiting wheel from the ground, thereby realizing the sowing height limit requirement of the depth-limiting wheel of the seeder.

[0032] like Figure 1 、 Figure 2 As shown, the device of the present invention comprises an onboard host computer 5, a ground relief sensor 6, a drive motor 1, a welded drive motor housing 2, a drive motor mounting plate 3, and a drive connecting shaft 4. The ground relief sensor 6 is mounted on the no-till planter body, detecting its height above the ground and transmitting a signal to the onboard host computer 5. The onboard host computer 5 receives the ground relief signal and outputs a signal to control the rotation of the drive motor 1. The drive motor 1 is mounted on the no-till planter body, and its output shaft is connected to a rotary adjustment lever 7 on the depth-gating wheel of the no-till planter. Rotating the rotary adjustment lever 7 adjusts the height of the depth-gating wheel above the ground.

[0033] The drive motor 1 is screwed to the drive motor mounting plate 2. The drive motor mounting plate 2 is welded to the inside of the welded housing 3. One end of the drive connecting shaft 4 is connected to the drive motor output shaft 1.2 via a jackscrew, and the other end is connected to the no-till planter depth-limiting wheel rotation adjustment lever 7 via a jackscrew.

[0034] As shown in Figures 3(a) and 3(b), the drive motor fixing plate 2 has a drive motor mounting hole 2.1, and the drive motor 1 has a fixing threaded hole 1.1. The drive motor 1 is fixed to the drive motor fixing plate 2 by screw connection. The side wall 2.2 of the drive motor fixing plate 2 is welded to the welding cover 3.

[0035] like Figure 4 As shown, the welded cover 3 is composed of a welded bottom plate 3.1, two welded side plates 3.2, and a welded top plate 3.3. The two welded side plates 3.2 each have a bolt mounting hole 3.4, which is fixed to the no-till planter unit by bolt connection, thereby connecting the welded cover 3 to the no-till planter unit.

[0036] like Figure 5 、 Figure 6 As shown, the output shaft 1.2 of the drive motor 1 is connected to the drive connecting shaft 4 through a jackscrew hole 4.1 at the motor connection end. The jackscrew hole 4.2 of the rotating rod of the drive connecting shaft is connected to the no-till planter depth-limiting wheel rotation adjustment rod 7 through a jackscrew. Therefore, when the output shaft 1.2 of the drive motor 1 rotates, the rotational motion is transmitted to the no-till planter depth-limiting wheel rotation adjustment rod 7 through the drive connecting shaft 4, thereby adjusting the height of the no-till planter depth-limiting wheel above the ground.

[0037] In this example, the ground height sensor 6 is a distance sensor, and the onboard host computer 5 is a PLC controller.

[0038] like Figure 7 As shown, the drive motor 1 is a brushless DC motor. Therefore, the control method of the automatic adjustment mechanism of the depth-limiting wheel of the no-till planter adopts a method combining the Smith predictive control method and the fuzzy PID to control the brushless DC motor, and let e be the allowable speed deviation.

[0039] Smith predictive control has the function of reflecting the delayed controlled quantity to the controller in advance, making the controller act in advance, offsetting the impact of the delay on the system in one step, reducing overshoot and improving system stability.

[0040] Its closed-loop control function is:

[0041]

[0042] Assume that the mathematical model is accurate enough, that is:

[0043] G m (s)=G p (s), and τ=τ m ,

[0044] Then we have:

[0045]

[0046] Where G c (s) is the controller, G p (s)e -τs is the controlled object with a delay link, G m (s) is the mathematical model of the controlled object. G p (s)e -τs , e is the deviation, s represents the transfer function obtained by LaRue-Las transform, and -τ is the constant.

[0047] Smith predictive control requires a high level of precision in the mathematical model of the controlled object. In practical engineering applications, this algorithm is difficult to meet, resulting in incomplete compensation of the Smith predictive control system and poor control performance. Therefore, the Smith predictive control method is optimized by combining it with a fuzzy PID control algorithm.

[0048] Real-time speed deviation e and deviation rate e of fuzzy PID control input c As the input of fuzzy control, the output of fuzzy control is the PID parameter correction value, K p , K i , K d , the initial domain is a set of tuned PID parameters.

[0049] The present invention relates to an automatic adjustment device and control method for the depth-limiting wheel of a no-till planter. The device features a compact, reliable structure, and strong versatility, enabling multi-row operation for no-till planters. The control method combines Smith predictive control with fuzzy PID control to control the speed of the drive motor, resulting in robustness and rapid response.

[0050] The above is a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should be regarded as within the scope of protection of the present invention.

Claims

1. Automatic adjustment device for depth-limiting wheel of no-till planter, characterized in that: include: An onboard host computer (5) and a ground undulation height sensor (6) and a drive motor (1) respectively connected thereto; the ground undulation height sensor (6) is arranged on the body of the no-tillage planter, and detects a height signal between the ground and the sensor and sends it to the onboard host computer (5); the drive motor (1) is installed on the body of the no-tillage planter, and its output shaft is connected to a rotary adjustment rod (7) of a depth-limiting wheel of the no-tillage planter; the rotary adjustment rod (7) rotates to adjust the height position of the depth-limiting wheel above the ground, thereby adjusting the sowing height limit of the depth-limiting wheel of the planter.

2. The automatic adjustment device for the depth-limiting wheel of a no-till planter according to claim 1, characterized in that: The drive motor (1) is mounted on the no-tillage planter body via a drive motor housing (2), and the motor output shaft (1.2) of the drive motor (1) is connected to the rotation adjustment rod (7) of the depth-limiting wheel via a drive connecting shaft (4).

3. The automatic adjustment device for the depth-limiting wheel of a no-till planter according to claim 1, characterized in that: One end of the driving connection shaft (4) is connected to the driving motor output shaft (1.2) via a top screw, and the other end is connected to the no-tillage planter depth limiting wheel rotation adjustment rod (7) via a top screw.

4. The automatic adjustment device for the depth-limiting wheel of a no-tillage planter according to claim 2 or 3, characterized in that: The motor output shaft (1.2) of the drive motor (1) is provided with a motor connection end top screw hole (4.1), which is connected to the drive connection shaft (4) through a top screw; the other end of the rotating rod of the drive connection shaft (4) is provided with a top screw hole (4.2), which is connected to the rotation adjustment rod (7) of the depth limiting wheel of the no-tillage planter through a top screw; when the output shaft (1.2) of the drive motor (1) rotates, the rotation of the drive connection shaft (4) drives the rotation adjustment rod (7) of the depth limiting wheel of the no-tillage planter to rotate, thereby automatically adjusting the height gear of the depth limiting wheel of the no-tillage planter.

5. The automatic adjustment device for the depth-limiting wheel of a no-till planter according to claim 1, characterized in that: The drive motor housing (2) is a box body with openings at the bottom and one side. The drive motor (1) is arranged in the box body and mounted on the drive motor fixing plate (3). The side wall (2.2) of the drive motor fixing plate (3) is welded to the inner wall of the box body.

6. The automatic adjustment device for the depth-limiting wheel of a no-till planter according to claim 5, characterized in that: The drive motor fixing plate (3) is provided with a drive motor mounting fixing hole (2.1), and the drive motor (1) is provided with a fixing threaded hole (1.1), and the drive motor (1) is fixedly mounted on the drive motor fixing plate (3) by screw connection.

7. The automatic adjustment device for the depth-limiting wheel of a no-tillage planter according to claim 5 or 6, characterized in that: The drive motor housing (3) is composed of a welded bottom plate (3.1), two welded side plates (3.2) and a welded top plate (3.3); the two welded side plates (3.2) are each provided with a bolt mounting hole (3.4), and the drive motor housing (3) is fixed to the no-till planter unit by bolt connection.

8. The automatic adjustment device for the depth-limiting wheel of a no-till planter according to claim 1, characterized in that: The ground height sensor (6) is an infrared distance sensor. The onboard host computer (5) is a PLC controller, and the drive motor (1) is a brushless DC motor.

9. The automatic adjustment control method for the depth-limiting wheel of a no-till planter according to claim 1, characterized in that: include: The Smith predictive control method and fuzzy PID are combined to control the rotation speed of the driving motor (1), thereby controlling the rotary adjustment rod (7) to rotate and adjust the ground clearance position of the depth limiting wheel, thereby adjusting the ground clearance of the depth limiting wheel.

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