Minimum tillage corn sowing depth control system and method with dual regulation and control cooperating with active and passive pressing

Abstract

The invention belongs to the technical field of intelligent agricultural power machinery, and particularly relates to a mini-tiller corn sowing depth control system and method with dual regulation and control cooperating with active and passive suppression, and the method comprises the steps: responding to a starting signal, and obtaining preset parameters according to agricultural requirements; collecting sensor data; resolving actual data in real time based on sensor data; on the basis of the profiling inclination angle of the four-bar mechanism and the output thrust of the vertical hydraulic force application module, the current actual downward pressure is calculated in real time according to a mechanical model; calculating the current actual sowing depth in real time according to the geometric model based on the rotation angle of the depth wheel support arm; calculating the deviation between the preset parameter and the actual data; inputting the deviation data into a dual-regulation cooperative active and passive suppression model to generate a regulation instruction; the novel sowing depth control of pressing and depth limiting dual regulation and pressing cooperation is achieved, and the quality of the mini-tillage corn sowing operation is improved.

Description

Technical Field

[0001] This invention belongs to the field of intelligent agricultural power machinery technology, and specifically relates to a dual-control coordinated active and passive pressing control system and method for reduced-tillage corn planting depth. Background Technology

[0002] Sowing is a crucial step in agricultural production, and its quality directly determines the uniformity of crop emergence and overall growth, thus influencing crop yield. The accuracy and consistency of sowing depth are paramount. Sowing too shallow may lead to insufficient seed water absorption or weak root anchoring in seedlings; sowing too deep will hinder cotyledon emergence, resulting in weak seedlings or even gaps in the rows. Therefore, a stable and appropriate sowing depth is a key prerequisite for ensuring the necessary moisture, temperature, and aeration for seed germination, and for ensuring uniform emergence and strong seedling formation. With the promotion of conservation tillage and precision agriculture technologies, intelligent sowing technology for maize with reduced tillage has been widely applied. However, problems such as stubble cover, soil compaction, and uneven moisture in reduced-tillage plots pose even greater challenges to the stable control of sowing depth.

[0003] Accurate monitoring of downforce, sowing depth, and compaction pressure during seeder operation is crucial for achieving controllable sowing depth control and operational strategy adjustments for individual rows. While existing technologies have explored intelligent control of the sowing depth regulation process—such as the technical solutions disclosed in Chinese patent documents CN120359875B ("A Sowing Depth Regulation Device and Method for Synchronous Individual Movement in No-Till Maize Seeding"), CN120092560A ("A Sowing Depth Regulation Chassis for a Small-Scale Potato Seeder"), and CN118575633A ("A Sensor Fusion Detection-Based Self-Controlled Sowing Individual and Control Method")—they share common problems of emphasizing monitoring but neglecting coordination, and emphasizing furrowing but neglecting compaction. Existing technologies are limited to the regulation of single stages, or while achieving active control, they fail to incorporate the crucial agronomic process of compaction into an intelligent closed loop, lacking comprehensive optimization capabilities for the entire "furrowing-depth-compaction" process. Therefore, there is an urgent need for a dual-regulation, coordinated active and passive pressing system and method for controlled sowing depth of maize with reduced tillage, to achieve a new type of sowing depth control that combines dual regulation of pressing and depth limitation with coordinated pressing, thereby improving the quality of maize sowing operations with reduced tillage. Summary of the Invention

[0004] This invention relates to an intelligent system and method for monitoring and controlling the downforce, depth-limiting wheel posture, and rolling pressure in a reduced tillage mode, thereby achieving a novel sowing depth control that combines dual control of downforce and depth limit with coordinated rolling, thus improving the quality of reduced tillage maize sowing operations.

[0005] The purpose of this invention is to provide a method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive rolling, comprising the following steps:

[0006] Step S1: In response to the start signal, obtain preset parameters according to agronomic requirements; the preset parameters include: target downforce, target seeding depth and target sedation pressure;

[0007] Step S2: Real-time sensing of the operation status and collection of sensor data; the sensor data includes: real-time acquisition of the contour tilt angle of the four-bar linkage; real-time acquisition of the output thrust of the vertical hydraulic force application module; real-time acquisition of the rotation angle of the depth-limiting wheel arm; and real-time acquisition of the actual pressing pressure.

[0008] Step S3: Real-time calculation of actual data based on sensor data; the calculation of actual data includes: real-time calculation of the current actual downward pressure based on the contour tilt angle of the four-bar linkage and the output thrust of the vertical hydraulic force application module according to the mechanical model; real-time calculation of the current actual sowing depth based on the rotation angle of the depth-limiting wheel arm according to the geometric model;

[0009] Step S4: Calculate the deviation between the preset parameters and the actual data to obtain the deviation data; input the deviation data into the dual-control collaborative active and passive pressing model to generate control commands; the control commands include: vertical hydraulic force application module control commands, parallel hydraulic servo module control commands, and active and passive composite execution module control commands;

[0010] Step S5: Repeat steps S2 to S4 to form a continuous closed-loop control, continuously monitor deviation data, and adjust control commands until the sowing operation is completed.

[0011] The contouring tilt angle based on the four-bar linkage and the output thrust of the vertical hydraulic force application module are calculated in real time according to the mechanical model, including the current actual downward pressure:

[0012] It receives the contouring tilt angle of the four-bar linkage and the output thrust of the vertical hydraulic force application module; based on the static equilibrium principle of the four-bar linkage, it calculates the current actual downward pressure acting on the seeding unit in real time according to the mechanical model; the mechanical model is:

[0013]

[0014] In the formula, F d F represents the current actual downforce acting on the seeding monomer. h σ is the output thrust of the vertical hydraulic force application module, α is the contour tilt angle of the four-bar linkage, α is the tilt angle of the vertical hydraulic cylinder, L1 is the length of the hydraulic cylinder mounting bracket, and L2 is the length of the upper / lower arm of the four-bar linkage.

[0015] The rotation angle based on the depth-limiting wheel support arm, calculated in real time according to the geometric model, includes:

[0016] The rotation angle of the depth-limiting wheel support arm is received, and the actual sowing depth is calculated in real time through a geometric model based on the geometric configuration of the sowing unit.

[0017] The geometric model is as follows:

[0018]

[0019] In the formula, H act For the actual sowing depth, L3 is the effective length of the depth-limiting wheel support arm, θ1 is the rotation angle of the depth-limiting wheel support arm, and R is the radius of the depth-limiting wheel.

[0020] The deviation between the preset parameters and the actual data is calculated to obtain the deviation data, including:

[0021] Calculate the current actual downforce F acting on the seeding unit. d The difference between the downforce and the target downforce is used to obtain the downforce control deviation ΔF;

[0022] Calculate the actual seeding depth H act The difference between the seeding depth and the target seeding depth is used to obtain the seeding depth control deviation ΔH;

[0023] Calculate the difference between the actual town pressure P and the target town pressure to obtain the town pressure control deviation ΔP.

[0024] The dual-regulation coordinated active and passive suppression model is as follows:

[0025] For the downpressure control loop, a sliding mode control algorithm with pressure control deviation as input is used to generate the precise control current for the hydraulic valve; a control law consisting of equivalent control and switching control is constructed; and the total control signal u of the downpressure control loop is... F Limiting and anti-saturation treatments are performed to ensure that it always remains within the effective working range of the hydraulic valve, thereby achieving stable thrust output from the hydraulic cylinder.

[0026] For the depth-limited control loop, a fuzzy control algorithm with the depth control deviation as input is adopted. By querying a fuzzy rule table established based on expert experience, the proportional, integral, and derivative parameters of the controller are dynamically tuned to affect the total control signal u of the depth-limited control loop. H The process is performed to drive the hydraulic cylinder to output power.

[0027] For the tamping control loop, a proportional-feedforward composite control algorithm with the tamping pressure control deviation as input is used for regulation. This process enables rapid compensation and dynamic tracking of pressure on towns.

[0028] The sliding surface function of the sliding mode control algorithm is:

[0029]

[0030] In the formula, s is the sliding surface function of the sliding mode controller, and c1 and c2 are the sliding surface parameters;

[0031] The coefficient calculation formula for the fuzzy control algorithm is as follows:

[0032]

[0033]

[0034] In the formula, ΔK2 represents the adjustment amount of the gain coefficient at any depth limit (ΔK p2 ΔK i2 ΔK d2 μ(ΔK2) represents the membership degree of the output fuzzy variable, and K... p2_int K i2_int and K d2_int These are the initial depth-limited gain coefficients.

[0035] The control law, which combines equivalent control and switching control, is as follows:

[0036]

[0037] In the formula, K p1 K is the downforce proportional gain coefficient. i1 K1 is the downpressure integral gain coefficient, K2 is the switching gain coefficient, and φ is the boundary layer thickness.

[0038] The proportional, integral, and derivative parameters of the dynamic tuning controller include:

[0039]

[0040] In the formula, K p2 K is the depth-limited proportional gain coefficient. i2 K is the depth-limited integral gain coefficient. d2 The depth-limited differential gain coefficient;

[0041] The proportional-feedforward composite control algorithm includes:

[0042]

[0043] In the formula, K p3 K is the proportional gain coefficient for sedation pressure. f3 This is the feedforward gain coefficient for the ballast pressure.

[0044] Another objective of this invention is to provide a sowing depth control system for maize with reduced tillage using a dual-regulation synergistic active and passive rolling method according to the present invention, comprising: a pressure monitoring and regulation system, a depth limit monitoring and regulation system, a rolling monitoring and regulation system, and a central control system;

[0045] The downforce monitoring and control system includes: an inclination angle detection module, a pressure detection module, and a vertical hydraulic force application module. The inclination angle detection module uses an inclination angle sensor to sense the inclination angle change of the four-bar linkage contouring mechanism in real time, which serves as direct feedback on terrain and attitude. The vertical hydraulic force application module dynamically adjusts the output thrust of the hydraulic cylinder based on the inclination angle signal through a mathematical model, and then uses the shaft pin pressure sensor of the pressure monitoring module for feedback to achieve precise closed-loop control of the downforce of the seeding unit.

[0046] The depth limit monitoring and control system includes an angle detection module and a parallel hydraulic servo module. The angle detection module senses the rotation angle of the depth limit wheel arm in real time through an angle sensor and calculates the actual seeding depth. Based on this angle signal, the parallel electro-hydraulic servo module actively suppresses the collision vibration between the machine body and the depth limit wheel through a high dynamic response dual-sided hydraulic actuator to maintain seeding depth stability.

[0047] The pressure monitoring and control system includes: a pressure detection module and a passive-active composite execution module. The axle pin pressure sensor serves as the core of the detection and monitors the pressure in real time and accurately. The passive-active composite execution module adopts an integrated structure of hydraulic cylinder and mechanical spring connected in series. The hydraulic system compensates according to the pressure feedback, while the mechanical spring provides passive buffering and basic pressure.

[0048] The central control system is connected to the downpressure monitoring and control system, the depth monitoring and control system, and the pressing monitoring and control system, respectively. It calculates the deviation between preset parameters and actual data to obtain deviation data; inputs the deviation data into the dual-control collaborative active and passive pressing model to generate control commands; and realizes the start and stop of the control system, the processing of monitoring data, and the issuance of execution commands.

[0049] Another object of the present invention is to provide a computer device, including a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the dual-regulation coordinated active and passive pressing method for controlling the sowing depth of maize with reduced tillage according to the present invention.

[0050] Another object of the present invention is to provide a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the processor performs the dual-regulation coordinated active and passive pressing method for controlling the sowing depth of maize with reduced tillage according to the present invention.

[0051] The beneficial effects of this invention are as follows:

[0052] By adopting the dual-regulation coordinated active and passive pressing control system and method for reduced-tillage maize planting depth disclosed in this invention, the following beneficial effects can be achieved:

[0053] 1. By coordinating the three subsystems of pressure, depth limitation and compaction under the command of the central system, the traditional single-link control is upgraded to an integrated intelligent control of the entire process of "ditching-depth limitation-compacting". Through coordinated control, the problem of control lag caused by the independent operation of each link in the traditional system can be effectively solved, and the uniformity of sowing depth and consistency of seedbed quality can be improved under high-speed no-till operation conditions.

[0054] 2. By combining algorithms such as sliding mode control, fuzzy control, and proportional-feedforward composite control, the system's resistance to external disturbances and its tracking speed to target changes are improved. The active-passive composite pressing structure combines the rapid and accurate compensation capability of the hydraulic system with the buffering and vibration reduction characteristics of the mechanical spring. While ensuring the accuracy of pressing pressure control, it effectively reduces system energy consumption and impact load, and improves the overall reliability and economy of the operation. Attached Figure Description

[0055] Figure 1 This is a schematic diagram of the process for controlling the sowing depth of maize with reduced tillage using a dual-regulation synergistic active and passive pressing method according to the present invention.

[0056] Figure 2 This is a schematic diagram of the framework of the dual-regulation coordinated active and passive suppression corn planting depth control system in an embodiment of the present invention;

[0057] Figure 3 This is a flowchart of the control method for the dual-regulation coordinated active and passive pressing maize deep planting system with reduced tillage in an embodiment of the present invention;

[0058] Figure 4 This is a schematic diagram of the seeding depth control system structure in an embodiment of the present invention;

[0059] Figure 5 This is a schematic diagram of the downpressure monitoring and control system in an embodiment of the present invention;

[0060] Figure 6 This is a schematic diagram of the depth-limiting monitoring and control system in an embodiment of the present invention;

[0061] Figure 7 A schematic diagram of the suppression monitoring system in an embodiment of the present invention;

[0062] Figure 8 This is a schematic diagram of the control system principle in an embodiment of the present invention;

[0063] Figure 9 This is a schematic diagram illustrating the principle of the dual-regulation coordinated active and passive pressing control method for the reduced-tillage maize planting depth system in this embodiment of the invention.

[0064] In the diagram, 100: Downward pressure monitoring and control system, 101: Built-in tilt sensor at the rotation point, 102: Built-in shaft pin sensor at the connection point, 200: Depth limit monitoring and control system, 201: Rotation handling angle sensor, 300: Pressing monitoring and control system, 301: Active-passive composite execution module, 302: Hydraulic cylinder, 303: Mechanical spring, 304: Pressing shaft pin pressure sensor. Detailed Implementation

[0065] This invention provides a dual-regulation synergistic active and passive pressing control system and method for reduced-tillage maize planting depth. The invention will be further described in detail below with reference to the accompanying drawings.

[0066] like Figure 1 The embodiment of the present invention disclosed in the figure presents a method for controlling the sowing depth of maize with reduced tillage through dual regulation and synergistic active and passive rolling, comprising the following steps:

[0067] Step S1: In response to the start signal, obtain preset parameters according to agronomic requirements; the preset parameters include: target downforce, target seeding depth and target sedation pressure;

[0068] Step S2: Real-time sensing of the operation status and collection of sensor data; the sensor data includes: real-time acquisition of the contour tilt angle of the four-bar linkage; real-time acquisition of the output thrust of the vertical hydraulic force application module; real-time acquisition of the rotation angle of the depth-limiting wheel arm; and real-time acquisition of the actual pressing pressure.

[0069] Step S3: Real-time calculation of actual data based on sensor data; the calculation of actual data includes: real-time calculation of the current actual downward pressure based on the contour tilt angle of the four-bar linkage and the output thrust of the vertical hydraulic force application module according to the mechanical model; real-time calculation of the current actual sowing depth based on the rotation angle of the depth-limiting wheel arm according to the geometric model;

[0070] Step S4: Calculate the deviation between the preset parameters and the actual data to obtain the deviation data; input the deviation data into the dual-control collaborative active and passive pressing model to generate control commands; the control commands include: vertical hydraulic force application module control commands, parallel hydraulic servo module control commands, and active and passive composite execution module control commands;

[0071] Step S5: Repeat steps S2 to S4 to form a continuous closed-loop control, continuously monitor deviation data, and adjust control commands until the sowing operation is completed.

[0072] In one specific embodiment, those skilled in the art determine specific agronomic requirements based on the actual field, such as: sowing depth 5cm, downforce 300N, and rolling pressure 200N.

[0073] The specific implementation process of the dual-regulation synergistic active and passive suppression method for controlling the sowing depth of maize with reduced tillage is as follows:

[0074] Step A: Start the system. The central control system initializes and establishes communication with each monitoring and control module. Based on agronomic requirements, preset the target downpressure, target sowing depth, and target sedation pressure.

[0075] Step B: Real-time perception and data fusion of the working status. The tilt angle detection module collects the tilt angle of the four-bar linkage contouring mechanism in real time, the pressure detection module collects the output thrust of the vertical hydraulic force application module in real time, the angle detection module collects the rotation angle of the depth-limiting wheel arm in real time, and the shaft pin pressure sensor in the pressure detection module collects the actual pressure in real time.

[0076] Step C: The central control system receives all sensor data from Step B and performs the following calculations and decisions: Based on the tilt angle and hydraulic thrust, it calculates the current actual downward pressure in real time according to the established mechanical model; based on the depth-limiting wheel arm angle, it calculates the current actual sowing depth in real time according to the geometric model.

[0077] Step D: Based on the deviation between the preset and the actual, apply a mathematical model to generate control commands for the vertical hydraulic force application module, the parallel hydraulic servo module, and the active-passive composite execution module.

[0078] Step E: Repeat steps B to D to form a continuous closed-loop control. The central control system continuously monitors the changes in each state variable and fine-tunes the control parameters so that the system can adapt to the continuous changes in the field terrain until the sowing operation is completed.

[0079] In this embodiment, step C includes:

[0080] Step C1: The central control system receives the output thrust of the tilt angle and vertical hydraulic force application module. Based on the static balance principle of the four-bar linkage, it calculates the actual downward pressure acting on the seed unit in real time through the mechanical model.

[0081] The mechanical model is as follows:

[0082]

[0083] In the formula, F d F represents the current actual downforce acting on the seeding monomer. h σ is the output thrust of the vertical hydraulic force application module, α is the contour tilt angle of the four-bar linkage, α is the tilt angle of the vertical hydraulic cylinder, L1 is the length of the hydraulic cylinder mounting bracket, and L2 is the length of the upper / lower arm of the four-bar linkage.

[0084] Step C2: The central control system receives the angle of the depth-limiting wheel arm and calculates the actual sowing depth in real time based on the geometric configuration of the sowing unit through a geometric model.

[0085] The geometric model is as follows:

[0086]

[0087] In the formula, H act For the actual sowing depth, L3 is the effective length of the depth-limiting wheel support arm, θ1 is the rotation angle of the depth-limiting wheel support arm, and R is the radius of the depth-limiting wheel; the rotation angle of the depth-limiting wheel support arm is the angle between the depth-limiting wheel support arm and the horizontal direction.

[0088] The deviation between the preset parameters and the actual data is calculated to obtain the deviation data, including:

[0089] Calculate the current actual downforce F acting on the seeding unit. d The difference between the downforce and the target downforce is used to obtain the downforce control deviation ΔF;

[0090] Calculate the actual seeding depth H act The difference between the seeding depth and the target seeding depth is used to obtain the seeding depth control deviation ΔH;

[0091] Calculate the difference between the actual town pressure P and the target town pressure to obtain the town pressure control deviation ΔP.

[0092] The dual-regulation coordinated active and passive suppression model is as follows:

[0093] For the downpressure control loop, a sliding mode control algorithm with pressure control deviation as input is used to generate the precise control current for the hydraulic valve; a control law consisting of equivalent control and switching control is constructed; and the total control signal u of the downpressure control loop is... F Limiting and anti-saturation treatments are performed to ensure that it always remains within the effective working range of the hydraulic valve, thereby achieving stable thrust output from the hydraulic cylinder.

[0094] For the depth-limited control loop, a fuzzy control algorithm with the depth control deviation as input is adopted. By querying a fuzzy rule table established based on expert experience, the proportional, integral, and derivative parameters of the controller are dynamically tuned to affect the total control signal u of the depth-limited control loop. H The process is performed to drive the hydraulic cylinder to output power.

[0095] For the tamping control loop, a proportional-feedforward composite control algorithm with the tamping pressure control deviation as input is used for regulation. This process enables rapid compensation and dynamic tracking of pressure on towns.

[0096] In this embodiment, step D includes:

[0097] Step D1: The central control system will calculate F d H act and directly monitored town pressure P actThe control deviations ΔF, ΔH, and ΔP are generated by comparing them with their respective target values. Then, corresponding control algorithms are used to generate instructions based on the characteristics of different controlled objects.

[0098] Step D2: For the downpressure control loop, a sliding mode control algorithm with ΔF as input is used to generate the precise control current of the hydraulic valve. The sliding surface function of the sliding mode control algorithm is set as follows:

[0099]

[0100] In the formula, c1 and c2 are the sliding surface functions of the sliding mode controller; c1 and c2 are the sliding surface parameters; the sliding surface function, in engineering terms, can refer to the comprehensive error index of pressure control.

[0101] Subsequently, a control law is constructed that combines equivalent control and switching control; the control law that combines equivalent control and switching control is as follows:

[0102]

[0103] In the formula, K p1 K is the downforce proportional gain coefficient. i1 K1 is the downpressure integral gain coefficient, K2 is the switching gain coefficient, and φ is the boundary layer thickness.

[0104] Finally, the total control signal u F Limiting and anti-saturation treatments are applied to ensure that the hydraulic cylinder always operates within its effective range, thereby driving the hydraulic cylinder to output stable thrust.

[0105] Step D3: For the depth-limited control loop, a fuzzy control algorithm with ΔH as input is adopted. By querying the fuzzy rule table established based on expert experience, the proportional, integral, and derivative parameters of the controller are dynamically tuned. The specific formula is as follows:

[0106]

[0107] In the formula, K p2 K is the depth-limited proportional gain coefficient. i2 K is the depth-limited integral gain coefficient. d2 The depth-limited differential gain coefficient is calculated as follows:

[0108]

[0109]

[0110] In the formula, ΔK2 represents the adjustment amount of the gain coefficient at any depth limit (ΔK p2 ΔK i2 ΔK d2μ(ΔK2) represents the membership degree of the output fuzzy variable, and K... p2_int K i2_int and K d2_int These are the initial depth-limiting gain coefficients; and the final total control signal u. H The process is performed to drive the hydraulic cylinder to output power.

[0111] Step D4: For the tamping control loop, a proportional-feedforward composite control algorithm with ΔP as input is used for regulation to achieve rapid compensation and dynamic tracking of the tamping pressure, as detailed below:

[0112]

[0113] In the formula, K p3 K is the proportional gain coefficient for sedation pressure. f3 This is the feedforward gain coefficient for the ballast pressure.

[0114] Another embodiment of the present invention discloses a sowing depth control system for maize with reduced tillage using a dual-regulation coordinated active and passive rolling method according to the present invention, comprising: a downforce monitoring and regulation system 100, a depth limit monitoring and regulation system 200, a rolling monitoring and regulation system 300, and a central control system;

[0115] The downforce monitoring and control system 100 includes: an inclination angle detection module, a pressure detection module, and a vertical hydraulic force application module. The inclination angle detection module uses an inclination angle sensor to sense the inclination angle change of the four-bar linkage contouring mechanism in real time, which serves as direct feedback on terrain and attitude. The vertical hydraulic force application module dynamically adjusts the output thrust of the hydraulic cylinder based on the inclination angle signal through a mathematical model, and then uses the shaft pin pressure sensor of the pressure monitoring module for feedback to achieve precise closed-loop control of the downforce of the seeding unit.

[0116] The depth limit monitoring and control system 200 includes: an angle detection module and a parallel hydraulic servo module. The angle detection module senses the rotation angle of the depth limit wheel arm in real time through an angle sensor and calculates the actual seeding depth. Based on this angle signal, the parallel electro-hydraulic servo module actively suppresses the collision vibration between the machine body and the depth limit wheel through a high dynamic response dual-sided hydraulic actuator to maintain seeding depth stability.

[0117] The pressing monitoring and control system 300 includes: a pressing pressure detection module and a main-passive composite execution module. The pressing shaft pin pressure sensor 304 serves as the detection core, which monitors the pressing pressure in real time and accurately. The main-passive composite execution module 301 adopts an integrated structure of hydraulic cylinder 302 and mechanical spring 303 connected in series. The hydraulic system compensates according to the pressure feedback, while the mechanical spring provides passive buffering and basic pressing pressure.

[0118] The central control system is connected to the downpressure monitoring and control system 100, the depth limit monitoring and control system 200, and the pressing monitoring and control system 300, respectively. It calculates the deviation between preset parameters and actual data to obtain deviation data; inputs the deviation data into the dual-control collaborative active and passive pressing model to generate control commands; and realizes the start and stop of the control system, the processing of monitoring data, and the issuance of execution commands.

[0119] In this embodiment, the dual-control coordinated active and passive pressing corn planting depth control system includes a downforce monitoring and control system 100, a depth monitoring and control system 200, a pressing monitoring and control system 300, and a central control system installed on each corn planter.

[0120] The downforce monitoring and control system 100 includes an inclination angle detection module, a pressure detection module, and a vertical hydraulic force application module. The inclination angle detection module uses an inclination angle sensor to sense the inclination angle change of the four-bar linkage contouring mechanism in real time, which serves as direct feedback on terrain and attitude. The vertical hydraulic force application module dynamically adjusts the output thrust of the hydraulic cylinder based on the inclination angle signal through a mathematical model, and then provides feedback through the shaft pin pressure sensor of the pressure monitoring module, thereby achieving precise closed-loop control of the downforce of the seeding unit.

[0121] The depth limit monitoring and control system 200 includes an angle detection module and a parallel hydraulic servo module. The angle detection module senses the rotation angle of the depth limit wheel arm in real time through an angle sensor and calculates the actual seeding depth. Based on this angle signal, the parallel electro-hydraulic servo module actively suppresses the collision vibration between the machine body and the depth limit wheel through a high dynamic response dual-sided hydraulic actuator to maintain seeding depth stability.

[0122] The pressing monitoring and control system 300 includes a pressing pressure detection module and an active-passive composite execution module 301. The pressing shaft pin pressure sensor 304 serves as the core of the detection and monitors the pressing pressure in real time and accurately. The active-passive composite execution module 301 adopts an integrated structure with a hydraulic cylinder 302 and a mechanical spring 303 connected in series. The hydraulic system compensates according to the pressure feedback, while the mechanical spring provides passive buffering and basic pressing pressure.

[0123] The central control system is connected to all the above system modules and is used to control the start and stop of the system, monitor data processing, and issue execution commands.

[0124] The control system disclosed in this invention will be further described in detail below with reference to the accompanying drawings.

[0125] The framework of the dual-regulation coordinated active and passive pressing maize sowing depth control system in this embodiment of the invention is as follows: Figure 2As shown, the framework of the dual-regulation coordinated active and passive rolling maize sowing depth control system is as follows: With a central control system at its core, a collaborative control architecture integrating perception, decision-making, and execution is constructed. This system integrates three key subsystems: a downforce monitoring and control system 100, a depth limit monitoring and control system 200, and a rolling monitoring and control system 300. The central control system, acting as the intelligent decision-making center, is responsible for uniformly processing all sensor data, running the core control algorithm, and issuing control commands to each actuator. The downforce monitoring and control system 100 uses its tilt angle detection module and the tilt angle sensor and shaft pin pressure sensor of the pressure detection module to perceive the attitude and load of the sowing unit in real time. The vertical hydraulic force application module receives commands from the central control system to control the furrowing and soil penetration capabilities. The depth limit monitoring and control system 200 obtains the depth limit angle through the angle sensor of the angle detection module, converts it into sowing depth information, and utilizes the rapid response capability of the parallel hydraulic servo module to actively suppress vibration and stabilize the sowing depth. The pressing monitoring and control system 300 monitors the real-time situation through the pressing shaft pin pressure sensor 304 of the pressing pressure detection module, and the active-passive composite execution module 301 coordinates to complete the adaptive adjustment of the pressing pressure. The subsystems interact with each other and coordinate commands through the central control system, rather than working independently, thus forming a complete closed-loop intelligent control loop.

[0126] The structure of the seeding depth control system in this embodiment of the invention is as follows: Figure 4 As shown, the overall system structure and the distribution of subsystems are illustrated.

[0127] The control method flow of the dual-regulation coordinated active and passive pressing maize sowing depth system with reduced tillage in this embodiment of the invention is as follows: Figure 3 As shown; upon system startup, the central control system first initializes and establishes communication links with each module in the downforce, depth, and compaction monitoring and control system 300. Based on the agronomic requirements of reduced-tillage corn planting, it presets the target downforce, target planting depth, and target compaction pressure. After the seeder begins its operation, the three monitoring and control systems immediately enter parallel operation, collecting sensor data in real time and transmitting it to the central control system. The downforce monitoring system, through the tilt angle detection module, collects the tilt angle σ of the four-bar linkage and the tilt angle α of the vertical hydraulic cylinder in real time. Simultaneously, the pressure detection module collects the output thrust F of the hydraulic cylinder in real time. h ,

[0128] The downpressure monitoring and control system 100 in this embodiment of the invention is as follows: Figure 5 As shown; the downforce monitoring and control system 100 includes: a tilt sensor 101 built into the rotation point and a shaft pin sensor 102 built into the connection point; the tilt sensor 101 built into the rotation point is used to sense the tilt angle change of the four-bar linkage in real time; the shaft pin sensor 102 built into the connection point is used to collect downforce.

[0129] Through formulas in the system

[0130]

[0131] Calculate the actual downforce F acting on the seeding unit. d Then, the deviation ΔF from the set value is calculated, and this deviation is used as input to construct a sliding mode control algorithm to generate the precise control current for the hydraulic valve. The sliding mode surface function is set as follows:

[0132]

[0133] Subsequently, a control law is constructed that combines equivalent control and switching control:

[0134]

[0135] Finally, the total control signal u F Limiting and anti-saturation treatments are applied to ensure that the hydraulic cylinder always operates within its effective range, thereby driving the hydraulic cylinder to output stable thrust.

[0136] The depth monitoring system collects the rotation angle θ1 of the depth-limiting wheel arm in real time through the angle detection module. Based on the geometric configuration of the seeding unit, the depth monitoring and control system 200 in this embodiment of the invention is as follows: Figure 6 As shown, the depth limit monitoring and control system 200 includes: a rotation handling angle sensor 201, used to acquire the depth limit angle; the system uses a formula...

[0137]

[0138] Real-time calculation of actual seeding depth employs a fuzzy PID control algorithm with ΔH as input. By querying a fuzzy rule table established based on expert experience, the proportional, integral, and derivative parameters of the PID controller are dynamically tuned. The formula is as follows:

[0139]

[0140] The formulas for calculating each coefficient are as follows:

[0141]

[0142]

[0143] Finally, the total control signal u H The process is performed to drive the hydraulic cylinder to output power.

[0144] The pressing monitoring system collects the actual pressing pressure P in real time through the pressing shaft pin pressure sensor 304 in the pressing pressure detection module. Based on the mechanical model of the pressing wheel, the structure of the pressing monitoring system in this embodiment of the invention is as follows: Figure 7As shown, the principle of the control system in this embodiment of the invention is as follows: Figure 8 As shown in this embodiment, before operation: based on the plot conditions, the downforce, depth limit, and pressure (agronomic conditions) are preset; during operation: changes in the field terrain will cause fluctuations in downforce, depth limit, and pressure. At this time, in order to stabilize the required agronomic conditions, the central control system will collect sensor data in real time. In order to achieve "each performing its own function", the entire system is divided into three subsystems. Different subsystems generate instructions through sliding mode, fuzzy PID, and proportional-feedforward composite algorithms. The control instructions are uniformly issued to each actuator by a controller, and a closed loop is constructed to realize the regulation of sowing depth.

[0145] The specific execution process is as follows:

[0146] Through formula

[0147]

[0148] The real-time calculation of the required spring displacement is also the displacement of the hydraulic cylinder at that location. This displacement is mainly used for system debugging and status monitoring, providing an intuitive operational reference for the control loop. A proportional-feedforward composite control algorithm with the difference ΔP as input is used for regulation. The formula is:

[0149]

[0150] By u P The processing is designed to achieve rapid compensation and dynamic tracking of pressure on towns.

[0151] The principle of the dual-regulation coordinated active and passive pressing control method for the reduced-tillage maize planting depth system in this embodiment of the invention is as follows: Figure 9 As shown, in Figure 9 The central control process is displayed, and the system synchronously sends the generated control commands to each actuator: the control quantity u is based on the sliding mode control algorithm. F The vertical hydraulic force application module is driven to achieve precise adjustment of the downward pressure; the control quantity u is based on the fuzzy PID algorithm. H Driven by a parallel hydraulic servo module, the seeding depth is effectively stabilized; the control quantity u is output based on a proportional-feedforward composite control algorithm. P The active-passive composite execution module 301 is driven to dynamically adjust the pressure.

[0152] The above process continuously cycles during operation, forming a multi-parameter collaborative intelligent closed-loop control system, which can adaptively fine-tune the control parameters according to the actual working conditions until the sowing operation is completed. In a specific operation scenario, the collaborative control mechanism of the dual-control collaborative active and passive pressing maize sowing depth control system disclosed in this invention is as follows: Before operation, according to the agronomic requirements of the plot, the downforce, sowing depth and pressing pressure are set, and the three hydraulic cylinders are displaced to the initialization position according to the preset values. When the seeder is operating in the field, uneven ground may cause the depth-limiting wheel to be temporarily lifted, resulting in a reduced angle of the depth-limiting wheel support arm and an actual seeding depth shallower than the preset target, generating a seeding depth control deviation ΔH. In this situation, the pressure also changes, resulting in ΔF. At this time, the central system is activated. The downforce monitoring and control system, based on the deviation, rapidly increases the output thrust of the vertical hydraulic cylinder through a sliding mode control algorithm, applying greater downforce to the seeding unit and forcing it to press into the soil, thereby causing the depth-limiting wheel to fall back. At the same time, the depth-limiting monitoring and control system continuously monitors the recovery of the support arm angle and drives the parallel hydraulic servo module through a fuzzy control algorithm for fine adjustment and stabilization vibration reduction, so that the seeding depth quickly returns to and stabilizes at the preset value. During this process, the compaction monitoring and control system works. If the compaction pin sensor detects that the actual compaction pressure is lower than the target value (generating ΔP), it drives the active-passive composite execution module through a proportional-feedforward composite control algorithm to actively adjust the combined force of the hydraulic cylinder and mechanical spring to ensure that the compaction pressure is maintained within an appropriate range in real time. The entire process embodies the multi-loop coordination of depth-limited calibration, pressure-to-maintain depth limit, and adaptive pressing, enabling the system to quickly recover to a stable operating state under disturbances and effectively improve the consistency of sowing depth and seedbed quality.

[0153] Another embodiment of the present invention provides a computer device including a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the dual-regulation coordinated active and passive pressing method for controlling the sowing depth of maize with reduced tillage according to the present invention.

[0154] Another embodiment of the present invention provides a computer-readable storage medium having a computer program stored thereon, wherein when the computer program is executed by a processor, the processor performs the dual-regulation coordinated active and passive pressing method for controlling the sowing depth of maize with reduced tillage according to the present invention.

Claims

1. A method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive suppression, characterized in that, Includes the following steps: Step S1: In response to the start signal, obtain preset parameters according to agronomic requirements; the preset parameters include: target downforce, target seeding depth and target sedation pressure; Step S2: Real-time sensing of the operation status and collection of sensor data; the sensor data includes: real-time acquisition of the contour tilt angle of the four-bar linkage; real-time acquisition of the output thrust of the vertical hydraulic force application module; real-time acquisition of the rotation angle of the depth-limiting wheel arm; and real-time acquisition of the actual pressing pressure. Step S3: Real-time calculation of actual data based on sensor data; the calculation of actual data includes: real-time calculation of the current actual downward pressure based on the contour tilt angle of the four-bar linkage and the output thrust of the vertical hydraulic force application module according to the mechanical model; real-time calculation of the current actual sowing depth based on the rotation angle of the depth-limiting wheel arm according to the geometric model; Step S4: Calculate the deviation between the preset parameters and the actual data to obtain the deviation data; input the deviation data into the dual-control collaborative active and passive pressing model to generate control commands; the control commands include: vertical hydraulic force application module control commands, parallel hydraulic servo module control commands, and active and passive composite execution module control commands; Step S5: Repeat steps S2 to S4 to form a continuous closed-loop control, continuously monitor deviation data, and adjust control commands until the sowing operation is completed.

2. The method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive pressing as described in claim 1, characterized in that, The contouring tilt angle based on the four-bar linkage and the output thrust of the vertical hydraulic force application module are calculated in real time according to the mechanical model, including the current actual downward pressure: It receives the contouring tilt angle of the four-bar linkage and the output thrust of the vertical hydraulic force application module; based on the static equilibrium principle of the four-bar linkage, it calculates the current actual downward pressure acting on the seeding unit in real time according to the mechanical model; the mechanical model is: ， In the formula, F d F represents the current actual downforce acting on the seeding monomer. h σ is the output thrust of the vertical hydraulic force application module, α is the contour tilt angle of the four-bar linkage, α is the tilt angle of the vertical hydraulic cylinder, L1 is the length of the hydraulic cylinder mounting bracket, and L2 is the length of the upper / lower arm of the four-bar linkage. The rotation angle based on the depth-limiting wheel support arm, calculated in real time according to the geometric model, includes: The rotation angle of the depth-limiting wheel support arm is received, and the actual sowing depth is calculated in real time through a geometric model based on the geometric configuration of the sowing unit. The geometric model is as follows: ， In the formula, H act For the actual sowing depth, L3 is the effective length of the depth-limiting wheel support arm, θ1 is the rotation angle of the depth-limiting wheel support arm, and R is the radius of the depth-limiting wheel.

3. The method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive pressing as described in claim 1, characterized in that, The deviation between the preset parameters and the actual data is calculated to obtain the deviation data, including: Calculate the current actual downforce F acting on the seeding unit. d The difference between the downforce and the target downforce is used to obtain the downforce control deviation ΔF; Calculate the actual seeding depth H act The difference between the seeding depth and the target seeding depth is used to obtain the seeding depth control deviation ΔH; Calculate the difference between the actual town pressure P and the target town pressure to obtain the town pressure control deviation ΔP.

4. The method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive pressing as described in claim 1, characterized in that, The dual-regulation coordinated active and passive suppression model is as follows: For the downpressure control loop, a sliding mode control algorithm with pressure control deviation as input is used to generate the precise control current for the hydraulic valve; a control law consisting of equivalent control and switching control is constructed; and the total control signal u of the downpressure control loop is... F Limiting and anti-saturation treatments are performed to ensure that it always remains within the effective working range of the hydraulic valve, thereby achieving stable thrust output from the hydraulic cylinder. For the depth-limited control loop, a fuzzy control algorithm with the depth control deviation as input is adopted. By querying a fuzzy rule table established based on expert experience, the proportional, integral, and derivative parameters of the controller are dynamically tuned to affect the total control signal u of the depth-limited control loop. H The process is performed to drive the hydraulic cylinder to output power. For the tamping control loop, a proportional-feedforward composite control algorithm with the tamping pressure control deviation as input is used for regulation. This process enables rapid compensation and dynamic tracking of pressure on towns.

5. The method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive pressing as described in claim 4, characterized in that, The sliding surface function of the sliding mode control algorithm is: ， In the formula, s is the sliding surface function of the sliding mode controller, and c1 and c2 are the sliding surface parameters.

6. The method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive pressing according to claim 4, characterized in that, The coefficient calculation formula for the fuzzy control algorithm is as follows: ，， ， In the formula, ΔK2 represents the adjustment amount of the gain coefficient at any depth limit (ΔK p2 ΔK i2 ΔK d2 μ(ΔK2) represents the membership degree of the output fuzzy variable, and K... p2_int K i2_int and K d2_int These are the initial depth-limited gain coefficients.

7. The method for controlling the sowing depth of maize with reduced tillage through dual-regulation synergistic active and passive pressing as described in claim 4, characterized in that, The control law, which combines equivalent control and switching control, is as follows: ， In the formula, K p1 K is the downforce proportional gain coefficient. i1 K1 is the downpressure integral gain coefficient, K2 is the switching gain coefficient, and φ is the boundary layer thickness. The proportional, integral, and derivative parameters of the dynamic tuning controller include: ， In the formula, K p2 K is the depth-limited proportional gain coefficient. i2 K is the depth-limited integral gain coefficient. d2 The depth-limited differential gain coefficient; The proportional-feedforward composite control algorithm includes: ， In the formula, K p3 K is the proportional gain coefficient for sedation pressure. f3 This is the feedforward gain coefficient for the ballast pressure.

8. A controlled system for the sowing depth of maize under reduced tillage using a dual-regulation synergistic active and passive rolling method according to any one of claims 1-7, characterized in that, include: Downforce monitoring and control system, depth limit monitoring and control system, pressurization monitoring and control system, and central control system; The downforce monitoring and control system includes: an inclination angle detection module, a pressure detection module, and a vertical hydraulic force application module. The inclination angle detection module uses an inclination angle sensor to sense the inclination angle change of the four-bar linkage contouring mechanism in real time, which serves as direct feedback on terrain and attitude. The vertical hydraulic force application module dynamically adjusts the output thrust of the hydraulic cylinder based on the inclination angle signal through a mathematical model, and then uses the shaft pin pressure sensor of the pressure monitoring module for feedback to achieve precise closed-loop control of the downforce of the seeding unit. The depth limit monitoring and control system includes an angle detection module and a parallel hydraulic servo module. The angle detection module senses the rotation angle of the depth limit wheel arm in real time through an angle sensor and calculates the actual seeding depth. Based on this angle signal, the parallel electro-hydraulic servo module actively suppresses the collision vibration between the machine body and the depth limit wheel through a high dynamic response dual-sided hydraulic actuator to maintain seeding depth stability. The pressure monitoring and control system includes: a pressure detection module and a passive-active composite execution module. The axle pin pressure sensor serves as the core of the detection and monitors the pressure in real time and accurately. The passive-active composite execution module adopts an integrated structure of hydraulic cylinder and mechanical spring connected in series. The hydraulic system compensates according to the pressure feedback, while the mechanical spring provides passive buffering and basic pressure. The central control system is connected to the downpressure monitoring and control system, the depth monitoring and control system, and the pressing monitoring and control system, respectively. It calculates the deviation between preset parameters and actual data to obtain deviation data; inputs the deviation data into the dual-control collaborative active and passive pressing model to generate control commands; and realizes the start and stop of the control system, the processing of monitoring data, and the issuance of execution commands.

9. A computer device, characterized in that, It includes a memory and a processor, wherein the memory stores a computer program, and when the processor runs the computer program stored in the memory, the processor executes the dual-regulation coordinated active and passive pressing method for controlling the sowing depth of maize with reduced tillage according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the computer program is executed by the processor, the processor executes the method for controlling the sowing depth of maize with reduced tillage according to any one of claims 1 to 7.

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