A no-tillage seeding machine depth and vibration cooperative control method, system and device

Abstract

This invention discloses a method, system, and equipment for coordinated control of sowing depth and vibration in a no-till seeder, belonging to the field of intelligent control technology for agricultural equipment. The system includes a controller, a contour-following hydraulic actuator branch, a damping adjustment branch, a soil-covering hydraulic actuator branch, and a status monitoring module. The controller receives the furrowing depth deviation and vibration state prediction results corresponding to the target prediction interval, and combines this with real-time collected data on the sowing unit posture, depth-limiting wheel load, vibration signal, hydraulic pressure, and actuator displacement information to calculate the comprehensive control deviation. This deviation is then allocated as a furrowing depth correction and a soil-covering height compensation, generating target displacements for the contour-following mechanism hydraulic cylinder, damping pressure commands, and soil-covering wheel hydraulic cylinders, respectively, thus achieving coordinated control of furrowing depth adjustment, hydraulic damping vibration reduction, and soil-covering height compensation. This invention improves the stability of sowing depth and operational smoothness of the no-till seeder under complex field conditions by combining predictive feedforward and feedback correction, and reduces the impact of sowing unit vibration on sowing quality.

Description

Technical Field

[0001] This invention relates to the field of intelligent control technology for agricultural machinery, specifically to a method, system, and equipment for coordinated control of seeding depth and vibration in no-till seeders. In particular, it relates to a method for adjusting the furrowing depth, hydraulic damping vibration reduction, and soil covering height compensation of no-till seeders based on predictive drive, hydraulic coordinated execution, and multi-source state feedback fusion. Background Technology

[0002] No-till seeding is a conservation tillage method that reduces soil disturbance, minimizes soil erosion, and improves agricultural productivity, making it widely used in the production of field crops such as corn and wheat. With the development of agricultural equipment towards higher speeds and greater intelligence, the operating speed of no-till seeders is constantly increasing, and the operational stability of individual seeders in complex field environments has become a crucial factor affecting seeding quality. Among these factors, the consistency of seeding depth directly impacts seed germination, seedling growth, and final yield, making it an important indicator for evaluating the performance of no-till seeders.

[0003] Existing no-till planters typically maintain a certain furrowing depth by adjusting the furrow opener's entry into the soil through a contour-following mechanism, depth-limiting wheels, and spring or hydraulic loading mechanisms. However, in actual field operations, the ground surface is undulating, and the soil compaction, moisture content, and straw coverage exhibit significant spatial heterogeneity. Furthermore, the continuous consumption of seeds and fertilizers during the sowing process leads to constant changes in the effective mass of each seed unit, causing dynamic variations in the soil resistance and contact load on each seed unit, resulting in fluctuations in the furrow opener's entry depth.

[0004] Most existing depth control methods rely on real-time attitude information, depth-limiting wheel load information, or furrowing depth feedback information for closed-loop adjustment. When a seedling enters a complex surface area, sensors detect the state change and feed it back to the controller, which then adjusts the mechanism. This process has a certain lag and cannot promptly compensate for surface undulations and soil condition changes that have not yet occurred but are about to occur. Therefore, relying solely on real-time feedback control is insufficient to meet the feedforward adjustment requirements under high-speed no-till farming conditions.

[0005] On the other hand, as the operating speed increases, the seeding unit is more susceptible to surface excitation, sudden changes in soil resistance, and impact from straw residue, making it prone to vertical vibration. Vibration of the seeding unit not only reduces the stability of furrow depth but also affects the grounding status of the depth-limiting wheel and the covering wheel, causing further deviations in the final sowing depth. Existing technologies employ methods such as increasing structural stiffness, installing spring buffer mechanisms, or optimizing mechanical contouring structures to reduce vibration. However, these methods are typically passive vibration reduction and cannot dynamically adjust the vibration reduction capacity according to different field conditions.

[0006] Existing hydraulic control technology can regulate the downward pressure of individual seeding units by adjusting the output force of hydraulic cylinders, and can improve vibration response by utilizing hydraulic damping characteristics. For example, driving a contour-following mechanism with a hydraulic cylinder can improve the seeding unit's ability to follow changes in terrain; adjusting the pressure through a hydraulic valve can change the system's damping characteristics. However, existing hydraulic depth control systems typically focus primarily on adjusting the furrow depth, with the hydraulic actuator performing a single depth control function. They lack an active damping adjustment mechanism tailored to the vibration state of the seeding unit, making it difficult to simultaneously achieve both depth control accuracy and vibration suppression effectiveness.

[0007] Furthermore, current methods for controlling seeding depth typically focus on furrow depth. However, the final seed embedment depth is not only determined by the furrow depth but is also influenced by the operating state of the covering wheel and the amount of soil cover. In actual operation, even if the furrow opener maintains a stable embedment depth, variations in soil backfilling capacity, covering wheel posture, and soil condition can still lead to deviations in the final seeding depth. Therefore, adjusting the furrow depth alone is insufficient to guarantee a stable final seeding depth; both furrow depth adjustment and soil cover height compensation must be considered simultaneously.

[0008] Currently, research on intelligent control of no-till seeders mainly focuses on seeding depth detection, downforce adjustment, or single-state feedback control, with insufficient consideration given to the coupling relationship between individual seed vibration, furrow depth deviation, and changes in soil covering height. Especially in complex field environments, effective technical solutions are still lacking for how to utilize pre-operation predictive information to adjust the actuators in advance, and how to combine real-time state feedback to achieve coordinated control of contour-following depth control, hydraulic vibration reduction, and soil covering compensation.

[0009] Therefore, there is an urgent need for a no-till seeder control system and method that can predict changes in field conditions and achieve joint control of furrowing depth, hydraulic damping, and soil covering height through coordinated adjustment of multiple hydraulic actuators, so as to improve the stability of sowing depth and the smooth operation of individual seeders under high-speed no-till operation conditions. Summary of the Invention

[0010] In view of this, the purpose of this invention is to provide a method, system, and device for coordinated control of seeding depth and vibration in a no-till seeder, to solve the problems of poor seeding depth stability, insufficient operational stability, and difficulty in maintaining consistent soil covering quality in no-till seeders under complex field conditions due to surface undulations, soil disturbance, and individual seed vibration. To achieve the above objective, this invention provides the following technical solution:

[0011] In one embodiment of the present invention, a method for coordinated control of seeding depth and vibration of a no-till seeder is provided, comprising the following steps: S1, receiving the prediction results of a target prediction interval, wherein the prediction results include the predicted value of the vibration state of the seeding unit and the predicted value of the furrowing depth deviation;

[0012] S2. Collect real-time status feedback signals during the sowing unit operation process. The real-time status feedback signals include at least one of the following: sowing unit vibration signal, contouring mechanism posture signal, depth limiting wheel load signal, hydraulic cylinder displacement signal, and hydraulic branch pressure signal.

[0013] S3. Obtain the comprehensive trenching depth control deviation based on the predicted trenching depth deviation value and the real-time status feedback signal;

[0014] S4. The comprehensive trenching depth control deviation is allocated as trenching depth correction amount and soil cover increase amount compensation amount;

[0015] S5. Generate the target displacement command of the hydraulic cylinder of the contouring mechanism according to the trenching depth correction amount, generate the damping pressure command according to the predicted value of the vibration state of the seeding unit, and generate the target displacement command of the hydraulic cylinder of the covering wheel according to the compensation amount of the soil covering increase amount.

[0016] S6. Based on the target displacement command, damping pressure command, and target displacement command of the hydraulic cylinder of the contouring mechanism and the hydraulic cylinder of the covering wheel, control the movement of the hydraulic cylinder of the contouring mechanism, the damping adjustment branch, and the hydraulic cylinder of the covering wheel respectively to achieve coordinated control of seeding depth and vibration.

[0017] Further, in step S1, the predicted value of the vibration state of the seeding unit includes the root mean square of vibration, kurtosis, peak factor and dominant frequency of vibration, the predicted value of the trenching depth deviation is the difference between the target trenching depth and the predicted trenching depth within the target prediction interval, and the prediction result carries the target prediction interval index.

[0018] Further, in step S3, the comprehensive trenching depth control deviation is obtained by weighted fusion of the predicted trenching depth deviation and the feedback trenching depth deviation, and the fusion result is subjected to amplitude limiting processing; wherein, the feedback trenching depth deviation is estimated by fusing the posture signal of the contouring mechanism and the load signal of the depth-limiting wheel.

[0019] Further, in step S4, based on the remaining stroke of the hydraulic cylinder of the contouring mechanism along the current adjustment direction, the remaining stroke of the hydraulic cylinder of the covering wheel along the current adjustment direction, and the maximum allowable correction amount per cycle, the deviation allocation coefficient is determined, and the deviation allocation coefficient is used to allocate the comprehensive trenching depth control deviation into trenching depth correction amount and covering height increase amount compensation amount.

[0020] Further, in step S5, the target displacement command of the hydraulic cylinder of the contouring mechanism is generated through the calibration mapping relationship between the trench depth correction amount and the displacement of the hydraulic cylinder of the contouring mechanism. The calibration mapping relationship is determined by the geometric parameters of the contouring mechanism, the installation position of the hydraulic cylinder, and the trench depth calibration data.

[0021] Further, in step S5, the damping pressure command is obtained by superimposing the feedforward damping pressure corresponding to the predicted vibration state and the pressure correction amount corresponding to the real-time vibration feedback; the pressure correction amount corresponding to the real-time vibration feedback is determined based on the normalized error between the real-time vibration root mean square, real-time kurtosis, real-time peak factor and the corresponding predicted value.

[0022] Preferably, the feedforward damping pressure is determined by a vibration state-target damping pressure calibration table; the vibration state-target damping pressure calibration table is established based on the root mean square level of vibration and the peak impact intensity level, and the dominant vibration frequency is used for pressure correction within the same vibration state level or interpolation of adjacent operating conditions.

[0023] Further, in step S5, the target displacement command of the covering wheel hydraulic cylinder is generated through the reverse calibration mapping relationship between the soil cover increase compensation amount and the displacement of the covering wheel hydraulic cylinder. The reverse calibration mapping relationship is determined by the calibration relationship between the vertical plane inclination angle of the covering wheel, the soil cover increase amount and the displacement of the covering wheel hydraulic cylinder.

[0024] Preferably, the feedback trench depth deviation is obtained using an adaptive extended Kalman filter method. This method uses the trench depth and its rate of change as state variables, the orientation signal of the contouring mechanism as the observation, and the load signal of the depth-limiting wheel as an auxiliary correction. When the load fluctuation of the depth-limiting wheel increases, the observation noise covariance is increased to reduce the impact of instantaneous impact on the trench depth estimation.

[0025] In one embodiment of the present invention, a no-till seeder seeding depth and vibration coordinated control system is provided, comprising: a prediction result input module for receiving predicted values ​​of seed unit vibration state and furrowing depth deviation within a target prediction range; a state monitoring module for collecting seed unit vibration signals, contouring mechanism attitude signals, depth-limiting wheel load signals, hydraulic cylinder displacement signals, and hydraulic branch pressure signals; a control decision module for generating target displacement commands for contouring mechanism hydraulic cylinders, damping pressure commands, and soil-covering wheel hydraulic cylinders based on the prediction results and feedback signals from the state monitoring module; a contouring hydraulic execution module for adjusting the furrowing depth according to the contouring mechanism hydraulic cylinder target displacement commands; a damping adjustment module for adjusting the equivalent damping of the contouring hydraulic execution module according to the damping pressure commands; and a soil-covering hydraulic execution module for adjusting the soil-covering wheel attitude and compensating for soil cover increase based on the soil-covering wheel hydraulic cylinder target displacement commands.

[0026] Furthermore, the contouring hydraulic actuator module includes a contouring mechanism hydraulic cylinder and a first electro-proportional directional valve; the damping adjustment module includes an electro-proportional relief valve; and the soil covering hydraulic actuator module includes a soil covering wheel hydraulic cylinder and a second electro-proportional directional valve. The first electro-proportional directional valve is used to adjust the extension and retraction displacement of the contouring mechanism hydraulic cylinder; the electro-proportional relief valve is used to adjust the pressure threshold of the contouring hydraulic branch; and the second electro-proportional directional valve is used to adjust the extension and retraction displacement of the soil covering wheel hydraulic cylinder.

[0027] In one embodiment of the present invention, a no-till seeder depth and vibration coordinated control device is provided, including a no-till seeder frame, a seeding unit, a contouring mechanism, a furrow opener, a depth limiting wheel, a covering wheel, a controller, and the aforementioned coordinated control system; the hydraulic cylinder of the contouring mechanism is connected to the contouring mechanism and is used to change the furrow opener's soil entry state, the hydraulic cylinder of the covering wheel is connected to the covering wheel adjustment mechanism and is used to change the covering wheel's posture, and the controller is used to execute the coordinated control method described above.

[0028] Based on the above technical solution, the no-till seeder seeding depth and vibration coordinated control method, system and equipment of the present invention, by receiving the predicted value of the vibration state of the seeding unit and the predicted value of the furrowing depth deviation within the target prediction interval, and combining the real-time status feedback signal during the operation of the seeding unit, obtains the comprehensive furrowing depth control deviation. The comprehensive furrowing depth control deviation is allocated as furrowing depth correction amount and soil covering increase amount compensation amount, and then generates target displacement command, damping pressure command and soil covering wheel hydraulic cylinder target displacement command respectively, so as to control the coordinated action of the contouring mechanism hydraulic cylinder, damping adjustment branch and soil covering wheel hydraulic cylinder, which solves the problems of poor seeding depth stability, insufficient running stability and difficulty in maintaining consistent soil covering quality caused by surface undulation, soil disturbance and seeding unit vibration in complex field conditions. Attached Figure Description

[0029] Figure 1 This is a schematic diagram of the single-unit structure of the no-till seeder provided in an embodiment of the present invention;

[0030] Figure 2 This is a schematic diagram of the force analysis of the seeding unit and hydraulic actuator provided in an embodiment of the present invention;

[0031] Figure 3 A schematic diagram of a controllable equivalent dynamic model of a seeding unit under surface excitation provided in an embodiment of the present invention;

[0032] Figure 4 This is a schematic diagram illustrating the overall architecture and working principle of the predictive drive seeding depth and vibration coordinated control system provided in an embodiment of the present invention.

[0033] Figure 5A schematic diagram of the hydraulic system for coordinated control of seeding depth and vibration provided in an embodiment of the present invention;

[0034] Figure 6 A flowchart of predictive-feedback fusion collaborative control of dual hydraulic cylinders provided in an embodiment of the present invention;

[0035] Figure 7 A flowchart of trench depth state estimation and feedback correction based on adaptive extended Kalman filtering provided in an embodiment of the present invention;

[0036] Figure 8 This is a schematic diagram of the calibration of a key control mapping bench provided in an embodiment of the present invention.

[0037] Explanation of reference numerals in the attached figures:

[0038] Explanation of reference numerals in the attached diagram: 1—Seeder frame, 2—Seeder unit, 3—Following mechanism, 4—Reel, 5—Stubble breaker, 6—Furrow opener, 7—Depth limiting wheel, 8—Covering wheel, 9—Following mechanism hydraulic cylinder, 10—Covering wheel hydraulic cylinder, 11—Hydraulic power unit, 12—First electro-proportional directional valve, 13—Second electro-proportional directional valve, 14—Electro-proportional relief valve, 15—Accumulator, 16—Controller, 17—Low-disturbance online prediction platform, 18—Prediction result input module. 19—Control Decision Module, 20—Status Monitoring Module, 21—Acceleration Sensor, 22—Angle Sensor, 23—Depth-Limiting Wheel Load Sensor, 24—Hydraulic Pressure Sensor, 25—Displacement Sensor, 26—Communication Module, 27—Target Prediction Interval, 28—Contour-Following Hydraulic Actuation Branch, 29—Damping Adjustment Branch, 30—Soil Covering Hydraulic Actuation Branch, 31—Trenching Depth Feedback Estimation Module, 32—Vibration Feedback Correction Module, 33—Soil Covering Displacement Inner Loop Control Module. Detailed Implementation

[0039] To make the technical solution, technical features, and implementation methods of the present invention clearer and more explicit, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments. It should be noted that the following embodiments are only used to illustrate the technical concept and implementation process of the present invention, and are not intended to limit the scope of protection of the present invention.

[0040] This invention addresses the problems of fluctuating furrow depth, enhanced vibration, and insufficient consistency of final sowing depth caused by surface undulation, changes in soil resistance, disturbance from straw mulch, and changes in the state of individual seed plants during high-speed no-till sowing. It proposes a predictive-driven sowing depth and vibration coordinated control system and method.

[0041] The overall technical approach of this invention is as follows: First, the operation status information, soil status information, and surface morphology information within the target prediction interval 27 are obtained through the low-disturbance online prediction platform 17, and prediction results of the vibration status and trenching depth deviation of the seeding unit 2 are generated; then, the controller 16 combines the prediction results with the real-time feedback information collected by the status monitoring module 20 to calculate the comprehensive control deviation, and allocates the comprehensive control deviation as trenching depth correction and soil cover increase compensation; further, the contouring hydraulic execution branch 28, the damping adjustment branch 29, and the soil cover hydraulic execution branch 30 drive the contouring mechanism hydraulic cylinder 9, adjust the hydraulic damping, and control the soil cover wheel hydraulic cylinder 10 respectively to realize trenching depth adjustment, vibration suppression, and soil cover compensation; finally, the trenching depth feedback estimation module 31, the vibration feedback correction module 32, and the soil cover displacement inner loop control module 33 perform closed-loop correction on the execution results.

[0042] The various embodiments of this invention have a continuous technical relationship. Specifically, Embodiment 1 illustrates the structural composition of the seeding unit and the mechanism for forming the final seeding depth; Embodiment 2 illustrates the principle of adjusting the furrow depth using the hydraulic cylinder 9 of the contouring mechanism; Embodiment 3 illustrates the mechanism of suppressing the vibration response of the seeding unit 2 using hydraulic damping; Embodiment 4 illustrates the mechanism of compensating for the increase in soil cover height using the hydraulic cylinder 10 of the covering wheel; Embodiment 5 illustrates the overall architecture of the predictive drive seeding depth and vibration coordinated control system; Embodiment 6 illustrates the dual hydraulic branch structure and hydraulic parameter design; Embodiment 7 illustrates the predictive-feedback fusion dual hydraulic cylinder coordinated control method; Embodiment 8 illustrates the furrow depth state estimation, vibration feedback, and inner loop control process of soil cover displacement; Embodiment 9 illustrates the bench calibration method for key control mapping; and Embodiment 10 illustrates the verification of the beneficial effects of the technical solution of this invention.

[0043] In the following embodiments, unless otherwise specified, the structural relationships of the seeding unit 2, the contouring mechanism 3, the furrow opener 6, the depth limiting wheel 7, the soil covering wheel 8, the contouring mechanism hydraulic cylinder 9, the soil covering wheel hydraulic cylinder 10, the controller 16, and each sensing and detection module are all set according to the connection relationships shown in the attached drawings.

[0044] Example 1: Sowing monomer structure and sowing depth formation mechanism

[0045] like Figure 1 As shown, this embodiment provides a no-till seeder with coordinated control of seeding depth and vibration, which includes a seeder frame 1 and a seeding unit 2 mounted on the seeder frame 1. The seeding unit 2 includes a contouring mechanism 3, a reel 4, a stubble cutter 5, a furrow opener 6, a depth limiting wheel 7, and a soil covering wheel 8.

[0046] During no-till seeding, the seed unit 2 moves forward in the working direction. The reel 4 is used to separate and clear surface straw or stubble. The stubble cutter 5 is used to cut the surface straw layer and topsoil. The furrow opener 6 is used to form seed furrows in the soil. The depth limiting wheel 7 is used to limit the depth of the furrow opener 6 and maintain a stable furrow depth. The covering wheel 8 is used to gather the soil on both sides of the seed furrow to the top of the seed furrow to form a covering layer. The contouring mechanism 3 is used to connect the seed unit 2 to the seeder frame 1 and adjusts the relative posture of the seed unit 2 according to the undulation of the ground, thereby affecting the soil entry state of the furrow opener 6.

[0047] In this embodiment, the sowing depth refers to the final sowing depth formed after the seeds have completed furrowing, sowing, and covering with soil. The final sowing depth depends not only on the furrowing depth formed by the furrow opener 6, but also on the amount of soil cover added by the covering wheel 8. To uniformly describe the sowing depth formation process, this embodiment adopts the following relationship:

[0048] (1)

[0049] In the formula, The final sowing depth is in mm. The trench depth is expressed in mm. The amount of soil cover increase is in mm.

[0050] From equation (1), it can be seen that when the trench depth When deviation occurs, the final sowing depth It will change accordingly; at the same time, when the amount of soil cover increases... When changes occur, even the trench depth Keeping the final sowing depth unchanged Deviations may still occur. Therefore, simply adjusting the depth of the furrow opener 6 is insufficient to consistently maintain a stable final sowing depth under complex no-till surface conditions.

[0051] Based on the aforementioned sowing depth formation mechanism, this invention decomposes the control of the final sowing depth into two interrelated control links: furrow depth adjustment and soil cover height compensation. Furrow depth adjustment is mainly achieved by the hydraulic cylinder 9 of the contouring mechanism 3 (in a subsequent embodiment) changing the posture of the contouring mechanism 3 and the soil entry state of the furrow opener 6; soil cover height compensation is mainly achieved by the hydraulic cylinder 10 of the soil cover wheel 8 (in a subsequent embodiment) changing the working posture of the soil cover wheel 8. Thus, the sowing unit 2 can simultaneously and synergistically adjust both furrow depth and soil cover height under conditions of surface undulation, soil resistance changes, and straw mulch disturbance.

[0052] Furthermore, during high-speed no-till operations, the seed unit 2 is affected by factors such as surface undulations, soil resistance fluctuations, and straw impact, leading to fluctuations in the soil penetration of the furrow opener 6 and causing vibration of the seed unit 2. This vibration of the seed unit 2 not only affects the furrowing depth... The stability of the soil will also affect the soil covering process and the amount of soil cover increase of the covering wheel 8. Consistency. Therefore, in subsequent embodiments, the present invention further incorporates a hydraulic damping vibration reduction mechanism, so that trenching depth adjustment, soil cover increase compensation, and seed unit vibration suppression together constitute the basis for coordinated control of sowing depth and vibration.

[0053] As can be seen from the structure and seeding depth relationship in this embodiment, the final seeding depth of the seeding unit 2 is jointly determined by the furrow depth and the amount of soil covering. The contouring mechanism 3, furrow opener 6, depth limiting wheel 7, and soil covering wheel 8 participate in the furrow depth formation, soil stabilization, and soil covering formation processes, respectively. This relationship provides the structural basis and control object for the dual hydraulic collaborative control of "depth control by hydraulic cylinder of contouring mechanism, vibration reduction by damping adjustment branch, and compensation by hydraulic cylinder of soil covering wheel" in subsequent embodiments.

[0054] Example 2: The mechanism for adjusting the trenching depth of the hydraulic cylinder in the contouring mechanism

[0055] like Figure 2 As shown, in this embodiment, the hydraulic cylinder 9 of the contouring mechanism is mounted on the contouring mechanism 3, which connects the seeder frame 1 and the seeding unit 2. The hydraulic cylinder 9 changes the posture of the contouring mechanism 3 through its telescopic movement, causing the furrow opener 6 to change its position relative to the ground surface, thereby adjusting the soil penetration state and furrowing depth of the furrow opener 6. The depth-limiting wheel 7 is used to constrain the soil penetration depth of the furrow opener 6, and the covering wheel 8 is located behind the furrow opener 6 to form a covering layer after furrowing and seeding.

[0056] During no-till seeding, the furrow opener 6 is subject to the combined effects of soil resistance, surface undulation, impact from straw residue, and changes in the mass of the seed unit 2, causing fluctuations in furrow depth. To improve the stability of furrow depth, this embodiment utilizes the hydraulic cylinder 9 of the contouring mechanism to apply controllable hydraulic pressure to the contouring mechanism 3, thereby adjusting the attitude of the parallel four-bar linkage of the contouring mechanism 3 and thus changing the penetration depth of the furrow opener 6.

[0057] To describe the effect of the hydraulic cylinder 9 of the contouring mechanism on the furrowing depth, the process of the furrow opener 6 entering the soil is equivalent to the stiffness-damping relationship of the soil-furrowing system. After the hydraulic cylinder 9 of the contouring mechanism acts on the seed unit 2, the furrowing depth and the equivalent downward pressure satisfy the following relationship:

[0058] (2)

[0059] In the formula, The equivalent vertical downward pressure acting on seeding monomer 2 at time t is expressed in N. The vertical equivalent resistance to soil penetration of the soil-ditching system is expressed in N / mm. The vertical equivalent damping of the soil-ditching system is expressed in N·s / mm. The trench depth at time t is in mm. The target trench depth is expressed in mm. F_0 represents the rate of change of trench depth in mm / s; F_0 represents the steady-state reference pressure at the target trench depth in N.

[0060] From equation (2), it can be seen that when the actual trench depth Deviation from target trench depth At this time, the controller 16 can adjust the output force of the hydraulic cylinder 9 of the contouring mechanism to change the equivalent vertical downward pressure on the trencher 6, thereby restoring the trenching depth to the target value.

[0061] In this embodiment, the hydraulic cylinder 9 of the contouring mechanism is preferably a double-acting hydraulic cylinder, whose output force is determined by the effective working area of ​​the hydraulic cylinder, the equivalent driving pressure difference, and the friction force. Equivalently representing higher-order dynamics such as valve port nonlinearity, oil compression, and pipeline pressure fluctuations as a first-order pressure response process, we can obtain:

[0062] (3)

[0063] In the formula, The effective output force of hydraulic cylinder 9 of the contouring mechanism along the extension direction at time t is expressed in N. The effective area of ​​the rodless chamber of hydraulic cylinder 9 in the contouring mechanism is expressed in mm². This is the equivalent driving pressure difference, in MPa. The equivalent frictional force of hydraulic cylinder 9 in the contouring mechanism is expressed in N. The extension and retraction displacement of hydraulic cylinder 9 of the contouring mechanism is expressed in mm. The extension and retraction speed of hydraulic cylinder 9 in the contouring mechanism; This is the control input for the proportional valve, measured in V. Valve-controlled input—equivalent differential pressure gain, in MPa / V; The equivalent pressure response time constant is expressed in seconds. This is the piston motion pressure feedback coefficient, with units of MPa·s / mm.

[0064] Equation (3) shows that the controller 16 can adjust the proportional valve to control the input through the first electro-proportional directional valve 12 or the corresponding valve control unit. This changes the equivalent driving pressure difference of the hydraulic cylinder 9 in the contouring mechanism. and output force The output force is transmitted to the seeding unit 2 via the contouring mechanism 3, which changes the soil entry state of the furrow opener 6.

[0065] Furthermore, a mapping relationship exists between the extension / retraction amount of the hydraulic cylinder 9 of the contouring mechanism and the trenching depth, determined by the geometric parameters of the contouring mechanism 3. Based on the geometric constraints of the contouring mechanism 3, the trenching depth can be expressed as:

[0066] , (4-1)

[0067] in,

[0068] (4-2)

[0069] In the formula, This represents the initial trenching depth, in mm. This represents the length of the parallel rod, in mm. The initial absolute attitude angle of the parallel lower rod; The change in rotation angle caused by the extension and retraction of hydraulic cylinder 9 of the contouring mechanism; Initial hydraulic cylinder mounting angle; The initial center distance of hydraulic cylinder 9 in the contouring mechanism is in mm; The extension / retraction amount of hydraulic cylinder 9 in the contouring mechanism is expressed in mm. The distance is in mm, from the front hinge point of the parallel lower rod to the lower hinge point of the hydraulic cylinder 9 of the contouring mechanism.

[0070] From equations (4-1) and (4-2), it can be seen that within the normal posture variation range of the contouring mechanism 3, the extension and retraction of the hydraulic cylinder 9 of the contouring mechanism is related to the trenching depth. It has a definite geometric correspondence. Therefore, in the actual control process, the target displacement of the hydraulic cylinder 9 of the contouring mechanism can be calculated back according to the target trenching depth correction amount, and the hydraulic cylinder 9 of the contouring mechanism can be driven to extend and retract through the first electro-proportional directional valve 12, so that the soil penetration depth of the trencher 6 is adjusted to the target trenching depth.

[0071] In this embodiment, the process of adjusting the trenching depth by the hydraulic cylinder 9 of the contouring mechanism can be summarized as follows: the controller 16 determines the target displacement of the hydraulic cylinder 9 of the contouring mechanism based on the deviation between the target trenching depth and the actual or predicted trenching depth; the first electro-proportional directional valve 12 adjusts the extension and retraction of the hydraulic cylinder 9 of the contouring mechanism based on the target displacement; the hydraulic cylinder 9 of the contouring mechanism drives the contouring mechanism 3 to change its posture; the change in posture of the contouring mechanism 3 further changes the soil entry position of the trencher 6 relative to the ground surface, thereby realizing the adjustment of the trenching depth.

[0072] Through the above structure and mechanism, the hydraulic cylinder 9 of the contouring mechanism can not only provide the displacement input required for adjusting the furrowing depth, but also improve the soil penetration stability of the furrow opener 6 by changing the equivalent downforce of the seeding unit 2, providing an execution basis for the prediction-feedback fusion control and the coordinated control of seeding depth and vibration in subsequent embodiments.

[0073] Example 3: The mechanism of hydraulic damping in suppressing the vibration of seeding units

[0074] like Figure 3 As shown, in this embodiment, the seeding unit 2 is subject to the combined effects of surface undulations, soil resistance fluctuations, straw residue impacts, and machinery traction disturbances during high-speed no-till seeding operations, which easily generates vertical vibrations. These vertical vibrations cause fluctuations in the soil penetration state of the furrow opener 6, thus affecting the stability of the furrowing depth. Simultaneously, the vibration of the seeding unit 2 also affects the grounding state of the depth-limiting wheel 7 and the soil-covering wheel 8, thereby affecting the consistency of the final seeding depth.

[0075] To suppress the vibration of the seeding unit 2, this embodiment includes a damping adjustment branch 29 in the contour hydraulic actuation branch 28. The damping adjustment branch 29 includes an electro-proportional relief valve 14. The controller 16 adjusts the set pressure of the electro-proportional relief valve 14 to change the equivalent damping of the hydraulic circuit where the contour mechanism hydraulic cylinder 9 is located, so that the contour mechanism hydraulic cylinder 9 can not only participate in the adjustment of the furrowing depth, but also act as a controllable damping element to suppress the vibration of the seeding unit 2.

[0076] exist Figure 3 In the equivalent dynamic model shown, the seed unit 2 is simplified as a single-degree-of-freedom system excited by the ground surface base. The vertical vibration of the seed unit 2 can be determined by the structural stiffness, structural damping, soil-straw equivalent damping, and controllable damping of the hydraulic system. Its dynamic relationship can be expressed as:

[0077] (5)

[0078] In the formula, m is the equivalent mass of seed unit 2; y(t) is the vertical displacement of seed unit 2 relative to the ground surface, in meters. Input displacement for the ground surface base, in meters; The equivalent total damping of the system at the current moment is expressed in N·s / m. This represents the equivalent total stiffness of the system at the current moment, in N / m. The vertical damping at the connection point of the seed unit is expressed in N·s / m. The equivalent damping caused by soil and straw is expressed in N·s / m. The equivalent controllable damping provided for the hydraulic system, in N·s / m; The vertical stiffness of the connection point of the seed unit is expressed in N / m. The equivalent stiffness provided to the hydraulic system, expressed in N / m; This is a random impact term, expressed in N. Additional control force, measured in N.

[0079] As can be seen from equation (5), the equivalent controllable damping provided by the hydraulic system It is the equivalent total damping It is a component of the [organism / system]. Therefore, by adjusting the pressure threshold of the damping adjustment branch 29, the vibration transmission characteristics of the seeding unit 2 can be changed.

[0080] Within the short-time steady-state range, the dominant surface excitation can be approximated as a harmonic input:

[0081] (6)

[0082] In the formula, The amplitude of the excitation of surface undulations is expressed in meters. ω is the dominant angular frequency, in rad / s; f is the dominant vibration frequency of the current interval, in Hz.

[0083] Within a target prediction interval of 27, if the equivalent total damping is... and equivalent total stiffness Treat it as a constant at the current operating point and ignore the random shock term. and slow-change control force The instantaneous influence of the seeding monomer 2 can be expressed as:

[0084] (7)

[0085] In the formula, The amplitude of the dominant harmonic response is expressed in meters (m). The response phase angle is expressed in rad.

[0086] Furthermore, the root mean square of the absolute acceleration of the dominant harmonic of seeding monomer 2 can be expressed as:

[0087] (8)

[0088] In the formula, R is the root mean square of the absolute acceleration of seeding monomer 2, in m / s².

[0089] From equations (7) and (8), it can be seen that the excitation amplitude of surface undulations... and dominant angular frequency Under certain conditions, changing the equivalent total damping This will alter the vibration response amplitude and root mean square acceleration of seeding unit 2. Especially under conditions approaching system resonance, it will improve the equivalent controllable damping provided by the hydraulic system. This is beneficial for reducing the vertical vibration amplitude and root mean square of seeding unit 2.

[0090] In this embodiment, the controller 16 generates a damping pressure command based on the predicted vibration state corresponding to the target prediction interval 27 and the real-time vibration feedback signal collected by the state monitoring module 20. The electro-proportional relief valve 14 adjusts the set pressure of the damping adjustment branch 29 according to the damping pressure command, so that the damping level of the hydraulic circuit where the contouring mechanism hydraulic cylinder 9 is located is adjusted according to the working state.

[0091] Specifically, when the predicted root mean square of vibration, predicted kurtosis, or predicted peak factor is large, the controller 16 increases the set pressure of the electro-proportional overflow valve 14 to enhance the hydraulic damping effect and reduce the vibration response of the seeding unit 2 when subjected to surface undulations and straw impacts; when the predicted vibration state is relatively stable, the controller 16 can reduce the damping set pressure to avoid excessive damping affecting the ability of the contouring mechanism 3 to follow low-frequency terrain changes.

[0092] In this manner, the damping adjustment branch 29 and the contouring hydraulic actuation branch 28 work in concert. On one hand, the contouring mechanism hydraulic cylinder 9 changes the soil entry state of the furrow opener 6 through displacement adjustment; on the other hand, the damping adjustment branch 29 changes the equivalent damping of the contouring mechanism hydraulic cylinder 9 through pressure adjustment. Thus, this embodiment achieves active damping vibration reduction of the seeding unit 2 using a hydraulic system without setting up an additional independent mechanical vibration reduction mechanism, providing a mechanistic basis for the generation of damping pressure commands in subsequent predictive-feedback fusion control.

[0093] Example 4: Compensation Mechanism of Soil Covering Wheel Posture and Soil Cover Increase

[0094] like Figure 1 and Figure 2 As shown, in this embodiment, the covering wheel 8 is positioned behind the furrow opener 6 and the depth limiting wheel 7. After the furrow opener 6 completes furrowing and sowing, it gathers the loose soil from both sides of the planting furrow to the top of the furrow, thus forming a covering layer. The hydraulic cylinder 10 of the covering wheel is connected to the adjustment mechanism of the covering wheel 8, and the amount of soil covering above the planting furrow is adjusted by changing the working posture of the covering wheel 8.

[0095] In no-till seeding operations, the final seeding depth Based on trench depth and the amount of soil cover A joint decision. When the trench depth... When deviation occurs, the soil entry state of the trencher 6 can be adjusted by the hydraulic cylinder 9 of the contouring mechanism; at the same time, the posture of the covering wheel 8 can be changed by the hydraulic cylinder 10 of the covering wheel to adjust the amount of soil cover increase. Compensation is then performed. This avoids the problem of insufficient adjustment range or delayed response of the actuator due to relying solely on trench depth adjustment.

[0096] In this embodiment, the covering effect of the covering wheel 8 can be equivalent to the lateral convergence of soil on the side of the trench towards the top of the planting trench within a unit forward distance. Define the effective backfill cross-sectional area. Then we have:

[0097] (9)

[0098] In the formula, The effective backfill cross-sectional area is expressed in mm². The soil covering efficiency coefficient; This is the lateral soil catchment capacity coefficient; The vertical inclination angle of the soil covering wheel 8; The horizontal deflection angle of the soil covering wheel 8; This is the equivalent area of ​​soil accumulation. The trench depth is expressed in mm. The height of the center of the soil covering wheel 8 is in mm; The radius of the soil covering wheel is 8 mm.

[0099] As can be seen from equation (9), the effective backfill cross-sectional area formed by the soil covering wheel 8 is... This is related to the orientation of the covering wheel 8, the covering efficiency, and the geometry of the planting furrow. Specifically, the vertical inclination angle of the covering wheel 8... It affects the ability of the soil on the side of the ditch to converge towards the center of the ditch; ditch depth Height of the center of the soil covering wheel and the radius of the soil covering wheel It will affect the interaction area between the cover wheel 8 and the loose soil on the side of the trench.

[0100] Furthermore, the effective backfill cross-sectional area will be... Equivalent backfill width of planting trench Combining these, the increase in soil cover height can be obtained:

[0101] (10)

[0102] In the formula, The amount of soil cover increase is expressed in mm. The equivalent backfill width of the planting trench is in mm. It is a function used to characterize the relationship between trench depth, cover wheel posture, cover wheel geometry parameters, and cover height increase.

[0103] As can be seen from equation (10), under the soil condition and the horizontal deflection angle of the overburden wheel 8, Height of the center of the soil covering wheel , radius of the soil covering wheel Equivalent backfill width of planting trench Within a relatively stable normal operating range, the increase in soil cover The vertical inclination angle of the covering wheel 8 can be adjusted. The change can be made. In other words, the hydraulic cylinder 10 of the covering wheel can compensate for and adjust the final sowing depth by changing the posture of the covering wheel 8.

[0104] In the actual control process, when the controller 16 determines the trenching depth based on the prediction results and real-time feedback... When the deviation from the target state occurs, a portion of the overall seeding depth control deviation can be allocated to the hydraulic cylinder 9 of the contouring mechanism to correct the trenching depth; another portion can be allocated to the hydraulic cylinder 10 of the covering wheel to adjust the amount of soil cover increase. The hydraulic cylinder 10 of the covering wheel extends or retracts according to the amount of soil compensation, thereby adjusting the vertical angle of the covering wheel 8. Changes occur, thereby altering the lateral convergence capacity of the soil on the sides of the ditch and the height of the overburden layer above the planting ditch.

[0105] Specifically, when the prediction or feedback indicates that the furrow is too shallow, the depth of the furrow opener 6 can be increased by the hydraulic cylinder 9 of the contouring mechanism, while the amount of soil covering is reduced as needed to compensate. When the prediction or feedback indicates that the furrow is too deep, the depth of the furrow opener 6 can be reduced by the hydraulic cylinder 9 of the contouring mechanism, or the amount of soil covering can be increased by the hydraulic cylinder 10 of the soil covering wheel, in order to reduce the deviation in the final sowing depth. The above adjustment methods make the furrow depth adjustment and the soil covering compensation synergistic, rather than two independent actions.

[0106] It should be noted that equations (9) and (10) are used to describe the adjustment mechanism of the soil cover increase amount of the covering wheel 8 within the normal control range. In actual operation, the soil cover efficiency coefficient... and lateral soil catchment capacity coefficient The soil moisture content, soil compaction, straw coverage, and operating speed may all be affected. Therefore, in subsequent embodiments, the mapping relationship between the displacement of the covering wheel hydraulic cylinder 10, the posture of the covering wheel 8, and the amount of soil cover increase can be obtained through bench calibration, and this mapping relationship can be used to generate the target displacement command for the covering wheel hydraulic cylinder 10.

[0107] In this embodiment, the hydraulic cylinder 10 of the covering wheel is no longer merely a common covering adjustment mechanism, but rather one of the actuators for coordinated control of sowing depth. It adjusts the amount of soil cover increase by changing the posture of the covering wheel 8. The trenching depth adjustment, together with the hydraulic cylinder 9 of the contouring mechanism, affects the final sowing depth. This provides a mechanistic basis for the allocation and control of "trenching depth correction amount - soil cover increase amount compensation amount" in subsequent embodiments.

[0108] Example 5: Overall Architecture of Predictive Driven Seed Depth and Vibration Co-control System

[0109] like Figure 4 As shown, this embodiment provides a predictive drive seeding depth and vibration coordinated control system. This system is applied to the seeding unit 2 of a no-till planter and mainly includes a low-disturbance online prediction platform 17, a prediction result input module 18, a control decision module 19, a status monitoring module 20, a communication module 26, a contour-following hydraulic actuation branch 28, a damping adjustment branch 29, a soil covering hydraulic actuation branch 30, a furrowing depth feedback estimation module 31, a vibration feedback correction module 32, and a soil covering displacement inner loop control module 33.

[0110] The low-disturbance online prediction platform 17 is positioned at the forward-looking position before the sowing unit 2 enters the target prediction interval 27. It acquires field status information for the corresponding interval before the sowing unit 2 enters the target prediction interval 27 and outputs the prediction results corresponding to that interval. The prediction results include at least the predicted furrow depth deviation and the predicted vibration state of the sowing unit. The predicted vibration state may include the predicted root mean square of vibration, predicted kurtosis, predicted peak factor, and predicted dominant vibration frequency. The LDOP completes the sensing of operational status and field parameters before the sowing unit enters the target interval and sends the prediction results to the control system for subsequent hydraulic coordinated control.

[0111] In this embodiment, the prediction result input module 18 is connected to the low-disturbance online prediction platform 17 via the communication module 26. The communication module 26 can employ wired, wireless, or bus communication methods to receive the interval number of the target prediction interval 27, the predicted trench depth deviation, and the predicted vibration state. To ensure the spatial correspondence between the prediction results and the executed actions, the prediction result input module 18 binds the received prediction results with the spatial index or timestamp of the target prediction interval 27 and transmits them to the control decision module 19.

[0112] The control decision module 19 is located within the controller 16. It is used to generate three types of control commands based on the prediction results received by the prediction result input module 18 and the real-time status information fed back by the status monitoring module 20: the first type is the target displacement command of the contouring mechanism hydraulic cylinder 9, which is used to control the soil entry state and trenching depth of the trencher 6; the second type is the damping pressure command, which is used to control the equivalent damping of the damping adjustment branch 29; and the third type is the target displacement command of the covering wheel hydraulic cylinder 10, which is used to adjust the attitude of the covering wheel 8 and compensate for the increase in soil cover height.

[0113] The status monitoring module 20 is used to collect real-time status feedback signals during the operation of the seeding unit 2. Specifically, the status monitoring module 20 includes an acceleration sensor 21, an angle sensor 22, a depth-limiting wheel load sensor 23, a hydraulic pressure sensor 24, and a displacement sensor 25. Among them, the acceleration sensor 21 is used to collect the vibration signal of the seeding unit 2; the angle sensor 22 is used to collect the attitude angle of the contouring mechanism 3; the depth-limiting wheel load sensor 23 is used to collect the vertical load of the depth-limiting wheel 7; the hydraulic pressure sensor 24 is used to collect the hydraulic branch pressure; and the displacement sensor 25 is used to collect the actual displacement of the contouring mechanism hydraulic cylinder 9 or the covering wheel hydraulic cylinder 10.

[0114] The trenching depth feedback estimation module 31 estimates the current trenching depth based on signals from the angle sensor 22 and the depth-limiting wheel load sensor 23, and calculates the feedback trenching depth deviation. The vibration feedback correction module 32 extracts the real-time vibration root mean square, real-time kurtosis, and real-time peak factor based on the real-time vibration signal collected by the acceleration sensor 21, and compares them with the predicted vibration state to form a damping pressure feedback correction amount. The soil cover displacement inner loop control module 33 adjusts the second electro-proportional directional valve 13 based on the error between the target displacement and the actual displacement of the soil cover wheel hydraulic cylinder 10, so that the soil cover wheel hydraulic cylinder 10 tracks the target displacement.

[0115] The contouring hydraulic actuation branch 28 includes a contouring mechanism hydraulic cylinder 9 and a first electro-proportional directional valve 12. The controller 16 adjusts the extension and retraction displacement of the contouring mechanism hydraulic cylinder 9 via the first electro-proportional directional valve 12, causing a change in the posture of the contouring mechanism 3, thereby adjusting the soil penetration depth of the furrow opener 6. The damping adjustment branch 29 includes an electro-proportional relief valve 14. The controller 16 adjusts the set pressure of the electro-proportional relief valve 14 to change the pressure threshold and equivalent damping of the contouring hydraulic actuation branch 28, thereby suppressing the vibration of the seeding unit 2. The soil covering hydraulic actuation branch 30 includes a soil covering wheel hydraulic cylinder 10 and a second electro-proportional directional valve 13. The controller 16 adjusts the extension and retraction displacement of the soil covering wheel hydraulic cylinder 10 via the second electro-proportional directional valve 13, causing a change in the posture of the soil covering wheel 8, thereby adjusting the amount of soil covering increase.

[0116] In a specific working process, the low-disturbance online prediction platform 17 first acquires the field state information of the target prediction interval 27 and outputs the predicted trenching depth deviation and the predicted vibration state. After receiving the above prediction results, the prediction result input module 18 transmits them to the control decision module 19. The control decision module 19 calculates the comprehensive control deviation based on the predicted trenching depth deviation and the feedback trenching depth deviation output by the trenching depth feedback estimation module 31. Subsequently, the control decision module 19 allocates the comprehensive control deviation to the trenching depth correction amount and the soil cover increase amount compensation amount, and generates the target displacement of the contouring mechanism hydraulic cylinder 9 and the target displacement of the soil cover wheel hydraulic cylinder 10, respectively. At the same time, the control decision module 19 generates a damping pressure command based on the predicted vibration state and the real-time vibration correction amount output by the vibration feedback correction module 32.

[0117] Therefore, the following control link is formed in this embodiment:

[0118] The low-disturbance online prediction platform 17 provides forward prediction results for the target prediction interval 27; the prediction result input module 18 completes the prediction result reception and interval binding; the control decision module 19 completes prediction-feedback fusion, deviation allocation and control command generation; the contour hydraulic execution branch 28 performs trenching depth adjustment; the damping adjustment branch 29 performs hydraulic damping vibration reduction; the soil cover hydraulic execution branch 30 performs soil cover increase compensation; the state monitoring module 20, the trenching depth feedback estimation module 31, the vibration feedback correction module 32 and the soil cover displacement inner loop control module 33 together form a closed loop feedback.

[0119] It should be noted that the low-disturbance online prediction platform 17 in this embodiment can be used as the upstream prediction device of this system, or it can be replaced by other prediction devices that can output the predicted value of the trenching depth deviation and the predicted value of the vibration state of the seeding unit in the target prediction interval 27. That is to say, the core of this embodiment is not limited to a specific prediction model, but lies in the fact that after the controller 16 receives the prediction results, it combines them with real-time feedback and converts them into coordinated control commands for the contouring mechanism hydraulic cylinder 9, the damping adjustment branch 29, and the covering wheel hydraulic cylinder 10.

[0120] Through the above overall architecture, this invention achieves a collaborative control mode of "forward prediction - feedback correction - contour-based depth control - hydraulic vibration damping - soil covering compensation". Compared with the sowing depth control method that relies solely on real-time feedback, this embodiment can obtain the prediction results of furrowing depth deviation and vibration state before the sowing unit 2 enters the target prediction interval 27, thereby providing time for the hydraulic actuator to adjust in advance. Compared with the single furrowing depth control method, this embodiment simultaneously utilizes the contour-based mechanism hydraulic cylinder 9, the damping adjustment branch 29, and the soil covering wheel hydraulic cylinder 10 to undertake the tasks of furrowing depth adjustment, vibration suppression, and soil covering increase compensation, thereby improving the stability of the final sowing depth and the operational smoothness of the sowing unit 2.

[0121] Example 6: Design of Dual Hydraulic Branches and Hydraulic System Parameters

[0122] like Figure 5 As shown, this embodiment provides a hydraulic system for coordinated control of seeding depth and vibration in a no-till planter. The hydraulic system includes a hydraulic power unit 11, a contour-following hydraulic actuation branch 28, a damping adjustment branch 29, a soil-covering hydraulic actuation branch 30, an accumulator 15, and a hydraulic pressure sensor 24 for acquiring hydraulic status data.

[0123] The hydraulic power unit 11 provides pressure oil to the contouring hydraulic actuation branch 28, the damping adjustment branch 29, and the soil covering hydraulic actuation branch 30; the accumulator 15 buffers pressure fluctuations in the hydraulic actuation branch and replenishes flow during transient actions; the contouring hydraulic actuation branch 28 drives the contouring mechanism hydraulic cylinder 9 to extend and retract, thereby adjusting the posture of the contouring mechanism 3 and the soil entry state of the trencher 6; the damping adjustment branch 29 adjusts the equivalent damping of the contouring hydraulic actuation branch 28; and the soil covering hydraulic actuation branch 30 drives the soil covering wheel hydraulic cylinder 10 to extend and retract, thereby adjusting the posture of the soil covering wheel 8 and compensating for the increase in soil covering height.

[0124] In this embodiment, the contouring hydraulic actuation branch 28 includes a contouring mechanism hydraulic cylinder 9 and a first electro-proportional directional valve 12. The first electro-proportional directional valve 12 adjusts the flow direction and flow rate of hydraulic oil entering the contouring mechanism hydraulic cylinder 9 according to the target displacement command output by the controller 16, causing the contouring mechanism hydraulic cylinder 9 to extend or retract. The damping adjustment branch 29 includes an electro-proportional relief valve 14. The electro-proportional relief valve 14 adjusts the branch pressure threshold according to the damping pressure command output by the controller 16, thereby changing the hydraulic damping during the movement of the contouring mechanism hydraulic cylinder 9. The soil covering hydraulic actuation branch 30 includes a soil covering wheel hydraulic cylinder 10 and a second electro-proportional directional valve 13. The second electro-proportional directional valve 13 adjusts the extension and retraction displacement of the soil covering wheel hydraulic cylinder 10 according to the target displacement command output by the controller 16.

[0125] To illustrate the selection and parameter design process of hydraulic actuators, this embodiment further provides the estimation relationships for the effective area of ​​the hydraulic cylinder, output force, branch pressure difference, flow rate, motion time, forward look time, and damping. It should be noted that the following formulas are used for engineering design and parameter verification of the hydraulic system in this embodiment and should not be construed as limiting the scope of protection of this invention.

[0126] For the hydraulic cylinder 9 of the contouring mechanism and the hydraulic cylinder 10 of the soil covering wheel, the effective areas of the rodless chamber and the rod chamber are respectively expressed as:

[0127] (11)

[0128] In the formula, j=H represents hydraulic cylinder 9 of the contouring mechanism, and j=C represents hydraulic cylinder 10 of the soil covering wheel; The effective area of ​​the rodless chamber of the corresponding hydraulic cylinder is expressed in mm². This refers to the effective area of ​​the rod chamber of the corresponding hydraulic cylinder, in mm². For the corresponding hydraulic cylinder diameter, the unit is mm; The corresponding hydraulic cylinder piston rod diameter is in mm.

[0129] The theoretical output force of a hydraulic cylinder under rated pressure can be expressed as:

[0130] (12)

[0131] In the formula, This represents the theoretical output force of the corresponding cavity side under rated pressure, expressed in kN. The rated working pressure of the corresponding hydraulic cylinder is expressed in MPa. The effective area of ​​the corresponding cavity side is in mm². Equations (11) and (12) can be used to check whether the hydraulic cylinder 9 of the contouring mechanism and the hydraulic cylinder 10 of the covering wheel meet the load requirements under the conditions of trenching depth adjustment, covering wheel posture adjustment and working load.

[0132] For the contour hydraulic actuator branch 28, its target effective pressure difference can be determined based on the target equivalent downforce:

[0133] (13)

[0134] In the formula, The target effective pressure difference for contour hydraulic actuator branch 28 is expressed in MPa. The equivalent downward pressure for the target is expressed in N; The effective area of ​​the hydraulic cylinder 9 of the contouring mechanism in the current direction of motion is expressed in mm². To improve the overall mechanical efficiency of the contour hydraulic actuator branch 28; is the equivalent force transmission coefficient of the contouring mechanism 3; The force transmission coefficient is determined by the geometric relationship of the contouring mechanism 3; It is the angle between the direction of the hydraulic cylinder force and the direction of the equivalent downward pressure.

[0135] For the hydraulic actuator branch 30 for soil covering, the target effective pressure difference can be determined based on the torque required for adjusting the attitude of the soil covering wheel:

[0136] (14)

[0137] In the formula, The target effective pressure differential for hydraulic actuator branch 30 in the soil covering section is expressed in MPa. The torque required for adjusting the attitude of the soil covering wheel 8 is expressed in N·mm. The equivalent working arm of the hydraulic cylinder 10 for the soil covering wheel is shown in mm. The effective area of ​​the hydraulic cylinder 10 of the soil covering wheel in the current direction of motion is expressed in mm². The overall mechanical efficiency of hydraulic actuator branch 30 for soil covering.

[0138] To meet the motion requirements of the contouring mechanism hydraulic cylinder 9 and the soil-covering wheel hydraulic cylinder 10 during the coordinated control process, the design flow rate of the hydraulic power unit 11 can be expressed as:

[0139] (15)

[0140] In the formula, The system design flow rate is expressed in L·min⁻¹; The required flow rate for contour hydraulic actuator branch 28 is expressed in L·min(^{-1}). The required flow rate for hydraulic actuator branch 30 for soil covering is expressed in L·min⁻¹. This refers to the flow margin coefficient. The flow conversion factor is used when the hydraulic actuator branch 30 for soil covering and the hydraulic actuator branch 28 for contouring operate synchronously.

[0141] The actual output flow rate of a hydraulic pump can be expressed as:

[0142] (16)

[0143] In the formula, This represents the actual output flow rate of the hydraulic pump, expressed in L·min⁻¹. This refers to the hydraulic pump displacement, expressed in L·min⁻¹. The hydraulic pump speed is expressed in r·min. -1 ; This refers to the volumetric efficiency of the hydraulic pump. When designing a hydraulic system, this should be considered... The system design flow rate must meet or exceed the value calculated by equation (15). This ensures that the hydraulic actuator can complete its action before the target prediction interval 27 is reached.

[0144] The hydraulic cylinder's movement speed and hydraulic movement time can be expressed as:

[0145] (17)

[0146] In the formula, The unit is m·s⁻¹, corresponding to the movement speed of the hydraulic cylinder. The corresponding hydraulic branch flow rate is expressed in L·min⁻¹. The effective area of ​​the rodless chamber of the corresponding hydraulic cylinder is expressed in mm². The unit is mm, which measures the maximum effective adjustment displacement within the working range. The hydraulic movement time required for the corresponding hydraulic cylinder to complete the maximum effective adjustment displacement is expressed in seconds (s).

[0147] Because this invention employs a predictive drive control method, the hydraulic actuator needs to complete adjustment before the seeding unit 2 enters the target prediction interval 27 or within the corresponding control window. The time constraint of the execution branch can be expressed as:

[0148] (18)

[0149] In the formula, The available look-ahead time for the corresponding execution branch, in seconds; The effective distance from the perceived location to the corresponding execution location is predicted, in meters (m). The speed of sowing operations is expressed in km·h. -1 ; The total time required to execute the corresponding branch, expressed in seconds; The auxiliary delay time for sensing, communication, calculation, and valve response is measured in seconds. Equation (18) can be used to verify whether the hydraulic cylinder 9 of the contouring mechanism, the damping adjustment branch 29, and the hydraulic cylinder 10 of the soil covering wheel have sufficient time to complete the pre-adjustment after the low-disturbance online prediction platform 17 outputs the prediction results.

[0150] Accumulator 15 is used to compensate for transient pressure fluctuations and insufficient flow in the hydraulic system. Its gas charging and discharging process can be approximated as a polytropic process as follows:

[0151] (19)

[0152] In the formula, The absolute pressure for pre-charging accumulator 15, in MPa; The nominal gas volume of the accumulator is 15 L; and These are the absolute pressures during the operation of accumulator 15, in MPa. and These represent the gas volumes at the corresponding pressures; It is a highly variable index; The volume of oil that can be released by accumulator 15 is in liters (L).

[0153] For the damping adjustment branch 29, the electro-proportional relief valve 14 changes the damping force of the contour hydraulic actuation branch 28 by adjusting the set pressure. The damping force and the local equivalent damping coefficient can be expressed as:

[0154] (20)

[0155] In the formula, This refers to the hydraulic damping force, measured in N. The effective area of ​​the damping effect is expressed in mm². The set pressure for the electro-proportional relief valve 14 is in MPa. This is the pressure on the low-pressure side, expressed in MPa. The characteristic velocity of hydraulic cylinder 9 in the contouring mechanism is expressed in m / s. -1 ; This is the local equivalent damping coefficient, with units of N·s·m. -1 .

[0156] As can be seen from equation (20), the controller 16 changes the set pressure of the electro-proportional relief valve 14. This can change the damping force of the damping adjustment branch 29. and local equivalent damping coefficient Therefore, the damping adjustment branch 29 in this embodiment can dynamically adjust the hydraulic damping level based on the predicted vibration state and real-time vibration feedback.

[0157] In one specific embodiment, the hydraulic system operates as follows: When the controller 16 outputs a target displacement command for the contouring mechanism hydraulic cylinder, the first electro-proportional directional valve 12 adjusts the oil inlet and outlet direction and flow rate of the contouring mechanism hydraulic cylinder 9, causing the contouring mechanism hydraulic cylinder 9 to extend or retract to the target position; when the controller 16 outputs a damping pressure command, the electro-proportional relief valve 14 adjusts the pressure threshold of the damping adjustment branch 29, so that the contouring hydraulic execution branch 28 has corresponding equivalent damping; when the controller 16 outputs a target displacement command for the soil covering wheel hydraulic cylinder, the second electro-proportional directional valve 13 adjusts the extension or retraction of the soil covering wheel hydraulic cylinder 10, causing the soil covering wheel 8 to reach the target posture.

[0158] Through the aforementioned dual hydraulic branch and damping adjustment branch, this embodiment enables the hydraulic cylinder 9 of the contouring mechanism to undertake the functions of trenching depth adjustment and hydraulic damping vibration reduction, and enables the hydraulic cylinder 10 of the soil covering wheel to undertake the function of soil covering increase compensation. The flow rate, pressure and response time are matched through the hydraulic power unit 11, accumulator 15 and electro-proportional valve group, thereby providing a hydraulic execution basis for subsequent predictive-feedback fusion collaborative control.

[0159] Example 7: Predictive-Feedback Fusion Dual Hydraulic Cylinder Cooperative Control Method

[0160] like Figure 6As shown, this embodiment provides a predictive-feedback fusion dual-hydraulic cylinder collaborative control method. This method is executed by a controller 16, which is connected to a prediction result input module 18, a control decision module 19, a trenching depth feedback estimation module 31, a vibration feedback correction module 32, a contour-following hydraulic actuation branch 28, a damping adjustment branch 29, and a soil-covering hydraulic actuation branch 30.

[0161] The core of this embodiment is that the controller 16 does not only perform hysteresis adjustment based on real-time feedback signals, but before the seeding unit 2 enters the target prediction interval 27, it receives the predicted furrowing depth deviation and predicted vibration state corresponding to the target prediction interval 27, and integrates the prediction results with the real-time feedback to generate the target displacement of the contouring mechanism hydraulic cylinder 9, the target set pressure of the damping adjustment branch 29, and the target displacement of the covering wheel hydraulic cylinder 10. The corresponding formulas (22) to (28) in this embodiment are the core relationships of this prediction-feedback coordinated control chain.

[0162] 1. Receive the prediction results for the target prediction interval.

[0163] At the k)th control sampling time, the controller 16 first determines the target prediction interval 27 that the seeding unit 2 is currently or about to enter, and receives the prediction result corresponding to the target prediction interval 27 through the prediction result input module 18.

[0164] The prediction results include at least the predicted trench depth deviation. and predicting vibration state .in, This represents the deviation of the predicted trench depth in the (i)th target prediction interval 27; The predicted vibration state of the i-th target prediction interval 27 can be represented as:

[0165] (twenty one)

[0166] In the formula, To predict the root mean square of vibration, To predict kurtosis, To predict the peak factor, To predict the dominant frequency of vibration.

[0167] The above prediction results can be output by the low-disturbance online prediction platform 17, or by other prediction devices that can output the furrowing depth deviation and vibration status before the seeding unit 2 enters the target prediction interval 27. This embodiment does not limit the specific type of prediction model; the focus is on how the prediction results are converted into hydraulic execution commands after entering the controller 16.

[0168] 2. Obtain real-time feedback status

[0169] The status monitoring module 20 collects real-time feedback signals during the sowing operation. The furrowing depth feedback estimation module 31 obtains the feedback furrowing depth deviation based on the signals from the angle sensor 22 and the depth-limiting wheel load sensor 23. The vibration feedback correction module 32 calculates the real-time root mean square of vibration, real-time kurtosis, and real-time peak factor based on the vibration signal collected by the acceleration sensor 21. The displacement sensor 25 collects the actual displacement of the hydraulic cylinder 9 of the contouring mechanism and the hydraulic cylinder 10 of the soil covering wheel for displacement closed-loop control.

[0170] In this embodiment, the feedback trench depth deviation is... The symbol definition and the deviation of the predicted trench depth To maintain consistency, positive values ​​indicate shallower trenching, while negative values ​​indicate deeper trenching. By standardizing the deviation sign, confusion regarding the direction of control commands can be avoided.

[0171] 3. Calculate the overall control deviation.

[0172] Control decision module 19 will predict trench depth deviation Deviation from feedback trench depth The overall control deviation is obtained by weighting the results according to the fusion coefficient:

[0173] (twenty two)

[0174] In the formula, The comprehensive control deviation at the k-th control sampling time is expressed in mm. For prediction-feedback fusion coefficients; The predicted trenching depth deviation for the target prediction interval 27 is expressed in mm. To provide feedback on trench depth deviation, the unit is mm; This is the amplitude limiting function.

[0175] Among them, the limiting function This is used to limit the overall control deviation within the allowable adjustment range, which can be determined by the allowable deviation of trenching depth, the remaining stroke of the hydraulic cylinder 9 of the contouring mechanism, the remaining stroke of the hydraulic cylinder 10 of the covering wheel, and the maximum allowable correction amount per cycle.

[0176] When the feedback estimate is not yet stable or the grounding status of depth-limiting wheel 7 is unstable, the following reduction can be made: This makes the controller 16 rely more on the prediction results for feedforward adjustment; once the feedback estimation stabilizes, it can be increased. This increases the impact of real-time feedback on the overall control deviation. Therefore, equation (22) can take into account both forward prediction capability and real-time closed-loop correction capability.

[0177] 4. Allocate the correction amount for trench depth and the compensation amount for increased soil cover.

[0178] According to the relationship described in Example 1, the final sowing depth is determined by both the furrow depth and the amount of soil covering. Therefore, the control decision module 19 will comprehensively control the deviation. The allocation is as follows: Correction amount for target trench depth and compensation amount for increased soil cover.

[0179] (twenty three)

[0180] In the formula, This is the correction amount for the target trench depth at the kth control sampling time, in mm; This is the compensation amount for the increase in soil cover at the k-th control sampling time, in mm; This is the deviation allocation coefficient.

[0181] In one implementation, The remaining stroke of the contouring mechanism hydraulic cylinder 9 along the current correction direction, the remaining stroke of the soil-covering wheel hydraulic cylinder 10 along the current correction direction, the response speed of the two hydraulic actuation branches, and the current operational safety boundary are determined. When the contouring mechanism hydraulic cylinder 9 has sufficient adjustment margin, the efficiency can be improved. This allows the trenching depth correction to take on the main adjustment task; when the hydraulic cylinder 9 of the contouring mechanism approaches the stroke boundary or needs to avoid excessive posture changes, the speed can be reduced. Increase the compensation ratio for the increased soil cover height.

[0182] Through equation (23), this embodiment transforms the single sowing depth deviation correction into two execution objectives: trenching depth adjustment and soil cover increase compensation, thereby achieving dual hydraulic cylinder coordinated control.

[0183] 5. Generate the target displacement of the hydraulic cylinder of the contouring mechanism.

[0184] Control decision module 19 adjusts the amount based on the target trenching depth. By reverse calibration mapping from the trench depth increment to the displacement increment of the hydraulic cylinder of the contouring mechanism, the target displacement of hydraulic cylinder 9 of the contouring mechanism is generated:

[0185] (twenty four)

[0186] In the formula, The current displacement of hydraulic cylinder 9 of the contouring mechanism at the k-th control sampling moment is expressed in mm. The target displacement of hydraulic cylinder 9 of the contouring mechanism is in mm; This is a reverse calibration mapping from the trenching depth increment to the displacement increment of the hydraulic cylinder of the contouring mechanism; Used to limit the target displacement within the effective stroke range of the hydraulic cylinder 9 of the contouring mechanism.

[0187] The first proportional directional valve 12 is based on the target displacement. Adjusting the extension and retraction of the hydraulic cylinder 9 of the contouring mechanism changes the posture of the contouring mechanism 3, thereby adjusting the soil penetration depth of the trencher 6. Thus, the predicted trenching depth deviation and the feedback trenching depth deviation are converted into executable displacement commands for the hydraulic cylinder 9 of the contouring mechanism.

[0188] 6. Generate damping pressure command

[0189] Control decision module 19 based on predicted vibration state The target set pressure for generating the real-time vibration feedback correction amount and the damping adjustment branch 29 is:

[0190] (25)

[0191] in,

[0192]

[0193] In the formula, The target set pressure for the electro-proportional relief valve 14 at the kth control sampling time, in MPa; For the calibration mapping of predicted vibration state to damping pressure; This is the real-time vibration feedback pressure correction value, in MPa. Used to limit the target set pressure within the allowable adjustment range of the electro-proportional relief valve 14.

[0194] When the predicted vibration state in the target prediction interval 27 is strong Outputs higher feedforward damping pressure; outputs lower feedforward damping pressure when the predicted vibration state is weak. Real-time vibration feedback pressure correction. Used to compensate for prediction errors and sudden disturbances.

[0195] Electro-proportional relief valve 14 according to Adjusting the pressure threshold of the damping adjustment branch 29 changes the equivalent damping of the contour hydraulic actuation branch 28 to suppress the vertical vibration of the seeding unit 2.

[0196] 7. Generate the target displacement of the hydraulic cylinder of the soil-covering wheel.

[0197] Control decision module 19 compensates based on the amount of soil cover increase. By reverse calibration mapping from the increase in soil cover height to the displacement increment of the hydraulic cylinder of the soil cover wheel, the target displacement of the hydraulic cylinder 10 of the soil cover wheel is generated:

[0198] (26)

[0199] In the formula, The current displacement of the hydraulic cylinder 10 of the soil covering wheel at the kth control sampling time is expressed in mm. The target displacement of the hydraulic cylinder 10 of the soil covering wheel is in mm; This is a reverse calibration mapping from the increase in soil cover height to the displacement increment of the hydraulic cylinder of the soil cover wheel; Used to limit the target displacement within the effective stroke range of the hydraulic cylinder 10 of the soil covering wheel.

[0200] The second proportional directional valve 13 is based on the target displacement. Adjusting the extension and retraction of the hydraulic cylinder 10 of the covering wheel changes the posture of the covering wheel 8, thereby adjusting the amount of soil cover increase. Thus, the portion of the overall control deviation not covered by trench depth correction can be compensated for through soil cover.

[0201] 8. Real-time vibration feedback pressure correction

[0202] To avoid a mismatch between the damping pressure and the actual vibration state due to relying solely on the predicted vibration state, the vibration feedback correction module 32 generates a pressure correction amount based on the error between the real-time vibration index and the predicted vibration index. For the vibration index (q\in{R,K,CF}), its normalized error is:

[0203] (27)

[0204] In the formula, This is the real-time feedback value of the vibration index corresponding to the k-th control sampling time. The predicted value of the vibration index corresponding to the target prediction interval 27; This is used to prevent small positive numbers with a denominator of zero.

[0205] The real-time vibration feedback pressure correction is:

[0206] (28)

[0207] In the formula, Vibration error—pressure feedback gain; The weights for different vibration indices, and ; and These are the downward pressure correction limit and the upward pressure correction limit, respectively.

[0208] When the real-time vibration is stronger than the predicted vibration A positive value can increase the target set pressure of the electro-proportional relief valve 14, thereby enhancing the damping effect; when the real-time vibration is weaker than the predicted vibration, It can be a negative value to reduce the target setting pressure, so as to avoid excessive damping affecting the ability of the contouring mechanism 3 to follow low-frequency terrain changes.

[0209] 9. Collaborative Execution Process

[0210] Based on the above steps, the controller 16 generates three types of execution instructions at each control sampling time:

[0211] First, the target displacement of the hydraulic cylinder of the contouring mechanism. , used to drive the hydraulic cylinder 9 of the contouring mechanism and adjust the trenching depth;

[0212] Second, the target set pressure of the electro-proportional relief valve , used to adjust the damping adjustment branch 29 and suppress the vibration of the seeding unit 2;

[0213] Third, the target displacement of the hydraulic cylinder of the soil covering wheel. It is used to drive the hydraulic cylinder 10 of the soil covering wheel and to compensate for the increase in soil cover height.

[0214] The contour hydraulic actuator branch 28, the damping adjustment branch 29, and the soil covering hydraulic actuator branch 30 execute the above instructions respectively; the status monitoring module 20 continues to collect trenching depth feedback, vibration feedback, and displacement feedback; the controller 16 continues to update the comprehensive control deviation, deviation allocation results, and three types of target instructions at the next control sampling time.

[0215] Through this control method, the following cooperative relationship is achieved in this embodiment:

[0216] First, the predicted trenching depth deviation is integrated with the feedback trenching depth deviation to avoid the lag caused by relying entirely on real-time feedback;

[0217] Secondly, the overall control deviation is allocated to two channels: trenching depth correction and soil cover increase compensation, avoiding a single hydraulic cylinder bearing the entire task of sowing depth correction.

[0218] Third, the predicted vibration state is used to generate feedforward damping pressure, and real-time vibration feedback is used to correct the damping pressure, making hydraulic vibration reduction both forward-looking and adaptive.

[0219] Fourth, the contouring mechanism hydraulic cylinder 9, the damping adjustment branch 29, and the soil covering wheel hydraulic cylinder 10 respectively undertake the tasks of depth control, vibration reduction, and soil covering compensation, thereby achieving coordinated control of sowing depth and vibration.

[0220] Example 8: Trenching Depth State Estimation, Vibration Feedback, and Inner Loop Control of Overburden Displacement

[0221] like Figure 7 As shown, this embodiment provides a method for trenching depth estimation, vibration feedback, and inner-loop control of cover displacement based on multi-source state monitoring. This method is used to perform real-time state correction on the prediction-feedback fusion dual hydraulic cylinder collaborative control process in Embodiment 7, so as to improve the accuracy of trenching depth estimation, vibration suppression effect, and position tracking performance of the cover wheel hydraulic cylinder 10 under complex no-till operation conditions.

[0222] In this embodiment, the state monitoring module 20 includes an acceleration sensor 21, an angle sensor 22, a depth-limiting wheel load sensor 23, a hydraulic pressure sensor 24, and a displacement sensor 25. The acceleration sensor 21 is used to collect the real-time vibration response of the seeding unit 2; the angle sensor 22 is installed on the contouring mechanism 3 to acquire the posture changes of the contouring mechanism; the depth-limiting wheel load sensor 23 is used to acquire the contact load between the depth-limiting wheel 7 and the ground; the hydraulic pressure sensor 24 is used to collect the pressure status in the contouring hydraulic actuation branch 28 and the damping adjustment branch 29; and the displacement sensor 25 is used to acquire the actual displacement of the contouring mechanism hydraulic cylinder 9 and the covering wheel hydraulic cylinder 10.

[0223] During high-speed no-till seeding, due to changes in soil compaction, impact from straw residues, surface undulations, and transient load changes on the depth-limiting wheel 7, relying solely on a single angle sensor 22 is insufficient to accurately reflect the real-time furrowing depth of the furrow opener 6. Therefore, this embodiment employs a method that fuses the posture information of the contour-following mechanism with the load information of the depth-limiting wheel to estimate the furrowing depth.

[0224] 1. Construction of trench depth observation based on angle and load fusion

[0225] like Figure 7 As shown, angle sensor 22 collects the attitude angle of the contouring mechanism 3. Based on the installation structure and calibration relationship of the contouring mechanism 3, the attitude angle is converted into a geometric observation value of the trench depth:

[0226] (29)

[0227] In the formula, These are angular geometric observations, in mm. 315 mm is the attitude angle of the contouring mechanism at the kth sampling time; 315 mm is the equivalent calibration length from the installation position of the angle sensor to the point of action of the trench depth; 2.5 mm is the calibration offset of the installation zero position relative to the soil reference plane.

[0228] Because the depth-limiting wheel 7 is affected by soil impact, changes in soil hardness, and changes in grounding status during high-speed operation, its vertical load changes can reflect the contact state between the seed unit 2 and the ground surface. Therefore, in this embodiment, the depth-limiting wheel load sensor 23 is used to assist in correcting the angle observation values.

[0229] Define the depth correction amount corresponding to the load deviation of the depth-limiting wheel as:

[0230] (30)

[0231] In the formula, This represents the depth correction amount corresponding to the load deviation of the depth-limiting wheel, in mm. The vertical load of the depth wheel at the k-th sampling time is expressed in N. The reference load is under stable grounding conditions, and the unit is N; This is the load deviation-depth correction factor; This is the maximum correction limit; To prevent tiny positive numbers with a denominator of zero.

[0232] Using equations (29) and (30), this embodiment obtains joint trench depth observations that include geometric attitude information and grounding load information.

[0233] Example 9: Bench Calibration Method for Critical Control Mapping

[0234] like Figure 8 As shown, this embodiment provides a key control mapping calibration method for predicting the propagation depth and vibration coordinated control system. The key control mapping includes the mapping relationship between the displacement of the hydraulic cylinder 10 of the cover wheel and the amount of soil cover increase, as well as the mapping relationship between the predicted vibration state and the target set pressure of the damping adjustment branch 29.

[0235] The purpose of this embodiment is to establish the control decision module 19 required in Embodiment 7 through bench testing. and Control mapping enables the controller 16 to generate corresponding target displacement commands and damping pressure commands for the soil-covering wheel hydraulic cylinder 10 based on the prediction results and control deviations.

[0236] Among them, the displacement-soil increase mapping of the hydraulic cylinder 10 of the soil covering wheel is used for soil covering compensation control in the support type (26); the predicted vibration state-target damping pressure mapping is used for damping pressure feedforward control in the support type (25).

[0237] 1. Calibration of overburden wheel inclination angle and overburden increase mapping

[0238] like Figure 8 As shown, this embodiment first conducts a calibration test between the posture of the covering wheel 8 and the amount of soil cover increase.

[0239] During the calibration process, the seed unit 2 was installed on the soil trough test platform, ensuring that the furrow opener 6, depth limiting wheel 7, and covering wheel 8 were in normal working condition. By adjusting the hydraulic cylinder 10 of the covering wheel, the covering wheel 8 was placed at different working inclination angles, and the attitude parameters of the covering wheel 8 and the change in soil surface height after covering were collected simultaneously.

[0240] For the a-th covering wheel tilt angle, multiple measuring points are set along the sowing direction to obtain the corresponding soil cover increase at each measuring point. The average increase in soil cover under this working condition is defined as:

[0241] (31)

[0242] In the formula, This represents the average increase in soil cover height under the horizontal inclination angle of the a-th covering wheel, in mm; The soil cover increase at the j-th measuring point under the a-th horizontal inclination angle is expressed in mm. The number of measurement points for the increase in soil cover height.

[0243] Based on the average soil cover increase data obtained under different soil cover wheel 8 inclination angles, a mapping relationship between soil cover wheel 8 inclination angle and soil cover increase is established:

[0244] (32)

[0245] In the formula, The predicted increase in soil cover is expressed in mm. The calibration function for the soil cover wheel inclination angle and the increase in soil cover height; The vertical inclination angle of the soil covering wheel 8; , , The fitting coefficients are denoted as .

[0246] Further, consider the mechanical relationship between the displacement of the hydraulic cylinder 10 of the soil covering wheel and the tilt angle of the soil covering wheel 8:

[0247] (33)

[0248] In the formula, A composite mapping of the displacement of the hydraulic cylinder 10 of the soil covering wheel and the increase in soil cover height. The mechanism mapping for the displacement of the hydraulic cylinder 10 of the soil covering wheel to the tilt angle of the soil covering wheel.

[0249] Based on equations (32) and (33), the inverse mapping required for soil cover compensation control can be obtained:

[0250] (34)

[0251] In the formula, The displacement increment of hydraulic cylinder 10 of the soil covering wheel is in mm; The compensation amount for the target increase in soil cover height, in mm; The current displacement of the hydraulic cylinder 10 of the soil covering wheel.

[0252] Through the above calibration process, the controller 16 can compensate for the soil cover increase amount as described in Example 7. Using reverse mapping Calculate the target displacement of the hydraulic cylinder 10 of the soil covering wheel. And through the second electro-proportional directional valve 13, the hydraulic cylinder 10 of the soil covering wheel is driven to operate.

[0253] 2. Predicting Vibration State—Target Damping Pressure Mapping Calibration

[0254] like Figure 8 As shown, this embodiment further conducts calibration tests between the predicted vibration state and the target set pressure of the damping adjustment branch 29.

[0255] In this experiment, the seed unit 2 was installed on a vibration test platform. By adjusting the ground excitation amplitude, excitation frequency, movement speed and local impact form of the test platform, the vibration disturbance of the seed unit 2 under different no-till operation conditions was simulated.

[0256] First, the vibration response of seeding unit 2 was collected under low-damping baseline conditions to construct the baseline vibration state characteristics:

[0257] (35)

[0258] In the formula, The root mean square of the vibration under the reference condition; Kurtosis is the baseline condition. Peak factor under baseline conditions; The frequency is the dominant vibration frequency under the reference condition.

[0259] To simultaneously consider vibration energy and impact characteristics, this embodiment constructs a comprehensive impact peak strength index:

[0260] (36)

[0261] In the formula, To comprehensively assess the peak impact strength; The median kurtosis in the valid sample; This represents the median peak factor in the valid sample.

[0262] According to the root mean square of vibration and comprehensive impact peak intensity Different vibration states are divided into multiple state categories. For each type of vibration condition, the pressure is set at different proportional relief valves 14. The following data were collected: pressure of the contour hydraulic actuator branch 28, movement speed of the contour mechanism hydraulic cylinder 9, and vibration response of the seeding unit 2.

[0263] Based on the collected hydraulic pressure and motion velocity, calculate the equivalent engineering damping under different pressure states:

[0264] (37)

[0265] in:

[0266]

[0267] In the formula, To set pressure The equivalent damping of the project is given in N·s / m. This represents the hydraulic damping force corresponding to the nth sampling point, in N. The speed of hydraulic cylinder 9 in the contouring mechanism is expressed in m / s. For the effective velocity sampling set; and These are the effective areas of the two chambers of hydraulic cylinder 9 in the contouring mechanism; and These represent the pressures in the two chambers of the hydraulic cylinder; This is the equivalent frictional force of the hydraulic cylinder.

[0268] To evaluate the impact of different damping pressures on vibration suppression, this embodiment defines a comprehensive vibration reduction evaluation index:

[0269] (38)

[0270] in:

[0271]

[0272] In the formula, For the first Vibration-like state under pressure The overall evaluation value is as follows; , and These are the root mean square of vibration, the mean kurtosis, and the mean peak factor, respectively, under the corresponding pressure conditions. , and This corresponds to the low-damping reference state value.

[0273] The smaller the overall evaluation value, the better the vibration suppression effect under the corresponding damping pressure. Therefore, the first... The target damping pressure corresponding to the vibration state is defined as:

[0274] (39)

[0275] in:

[0276] (40)

[0277] Further establish the mapping relationship between vibration state and target damping pressure:

[0278] (41)

[0279] In the formula, This is a calibration mapping to predict vibration state and target damping pressure.

[0280] Through the above calibration process, after receiving the predicted vibration state of the target prediction interval 27 in Embodiment 7, the controller 16 can, according to the mapping relationship, The initial target pressure of the electro-proportional relief valve 14 is generated, and the final damping pressure command is adjusted in combination with the real-time correction amount output by the vibration feedback correction module 32.

[0281] 3. Application of calibration results in collaborative control systems

[0282] Two key mapping relationships established through this embodiment:

[0283] (1) Mapping of the displacement of the hydraulic cylinder of the soil covering wheel and the increase in soil cover height ;

[0284] (2) Predicting vibration state—target damping pressure mapping ;

[0285] This enables the controller 16 to convert the abstract control quantity in Embodiment 7 into an actual hydraulic actuation quantity.

[0286] Among them, the target displacement of the hydraulic cylinder 10 of the covering wheel is used to drive the covering wheel 8 to adjust its posture and realize the compensation of the increase in soil covering height; the target pressure of the damping adjustment branch 29 is used to control the electro-proportional overflow valve 14 to realize hydraulic damping adjustment and vibration suppression of the seeding unit 2.

[0287] Thus, this embodiment completes the mapping of "predicted state - control target - hydraulic actuation quantity", providing an execution basis for the engineering application of the predictive-driven seeding depth and vibration coordinated control system. By combining it with the predictive-feedback fusion control method in Embodiment 7, active seeding depth control, active vibration reduction, and soil covering compensation of the seeding unit 2 can be realized in complex no-till field environments.

[0288] Example 10: Verification of the beneficial effects of the technical solution of the present invention

[0289] To verify the effectiveness of the no-till seeder seeding depth and vibration coordinated control system and method proposed in this invention, this embodiment verifies the performance from four aspects: predictive performance, accuracy of key control mapping, hydraulic vibration reduction effect, and field seeding quality improvement effect.

[0290] This embodiment uses the low-disturbance online prediction platform 17, predictive drive control system, and dual hydraulic actuators from the aforementioned embodiments for testing. The prediction model outputs the vibration state and trenching depth deviation corresponding to the target prediction interval 27. The controller 16 generates the target displacement of the contouring mechanism hydraulic cylinder 9, the damping adjustment pressure, and the target displacement of the covering wheel hydraulic cylinder 10 based on the prediction results and real-time feedback signals, thus achieving prediction-feedback fusion control.

[0291] 1. Verification of the accuracy of predictive-driven control inputs

[0292] First, the reliability of the prediction module output results of this invention is verified.

[0293] A six-input, five-output prediction system was adopted, with operation speed, effective quality of seeding unit, soil compaction, straw coverage, surface undulation deviation and surface undulation dispersion as input variables, and root mean square vibration, kurtosis, peak factor, dominant vibration frequency and furrowing depth deviation as output variables.

[0294] Using the coefficient of determination R 2 The prediction results are evaluated using the root mean square error (RMSE) and relative prediction deviation (RPD).

[0295] The overall performance of the complete model WMG-MTMK-SVR on the independent test set is as follows:

[0296] Evaluation indicators result mean NRMSE 0.327 <![CDATA[mean R 2 ]]> 0.893 mean RPD 3.069

[0297] Compared to the single-core, single-task SVR model, the full model reduces mean NRMSE by 24.5% and mean R... 2 Improved by 10.1%, mean RPD improved by 31.6%; compared to the model that only introduces the task relationship graph, mean NRMSE further decreased by 9.7%, and mean R... 2 The mean RPD was improved by 10.5%, representing a 2.9% increase. These results indicate that the three mechanisms employed in this invention—multi-core fusion, task-related constraints, and weak mechanistic priors—can complement each other, thereby enhancing the predictive ability of vibration state and trenching depth deviation under complex field conditions.

[0298] Furthermore, the prediction model was validated in the field. The model maintained high prediction accuracy in three scenarios: in-situ validation, cross-regional validation, and cross-time domain validation.

[0299] Among them, under in-situ verification conditions:

[0300] Output variables MAE RMSE <![CDATA[R 2 ]]> Root mean square R of vibration 0.159 0.203 0.914 kurtosis K 0.254 0.315 0.889 Peak Factor CF 0.295 0.378 0.870 Vibration dominant frequency f 0.794 1.001 0.880 Trenching depth deviation d 0.244 0.313 0.904

[0301] The model maintains stable predictive ability under cross-regional and cross-time-domain validation conditions. Specifically, in the cross-regional validation, the trench depth deviation prediction R... 2 The R-value for trench depth deviation prediction reached 0.876 in cross-time domain validation. 2 The result of 0.899 indicates that the prediction method of the present invention can adapt to changes in field conditions under different regional and temporal conditions.

[0302] Therefore, the prediction module of this invention can obtain relatively reliable prediction results of vibration state and furrowing depth deviation before the seeding unit 2 enters the target prediction interval 27, providing a data basis for the subsequent early adjustment of the hydraulic actuator.

[0303] 2. Verification of the effectiveness of key control mapping calibration

[0304] To verify the accuracy of the key control mapping relationship in the dual hydraulic actuator system of the present invention, calibration tests were conducted on the mapping between the soil covering wheel inclination angle and the soil covering increase, as well as the mapping calibration test between the predicted vibration state and the target damping pressure.

[0305] (1) Verification of Soil Cover Compensation Mapping

[0306] By adjusting the working angle of the covering wheel 8, the amount of soil cover increase formed under different inclination angles was measured, and a mapping relationship between the displacement of the hydraulic cylinder 10 of the covering wheel and the amount of soil cover increase was established.

[0307] The test results show that as the vertical inclination angle of the single-sided covering wheel increases from 15.00° to 25.00°, the average increase in soil cover height increases from 4.22 mm to 8.86 mm, and the two have a clear monotonic relationship.

[0308] The established mapping model of overburden wheel inclination angle and overburden height increase is as follows:

[0309] Coefficient of determination R 2 =0.9934;

[0310] The root mean square error (RMSE) is 0.1342 mm.

[0311] The mean absolute error (MAE) is 0.1299 mm.

[0312] The coefficient of variation (CV) for three repeated experiments ranged from 1.98% to 3.68%, with an average of 2.69%, indicating that the mapping relationship has good repeatability and stability and can be used for compensation control of the hydraulic cylinder 10 of the soil covering wheel.

[0313] (2) Damped pressure mapping verification

[0314] Different vibration states were simulated using a vibration test bench, and the pressure level of the electro-proportional overflow valve 14 was adjusted to establish the target damping pressure relationship corresponding to different vibration states.

[0315] The experimental results show that by adjusting different damping pressures, the equivalent damping level of the contour hydraulic actuation branch 28 can be effectively changed, thereby reducing the vibration response of the seeding unit 2 and providing a calibration basis for the generation of the target damping pressure in equation (25).

[0316] 3. Verification of the vibration reduction effect of hydraulic damping

[0317] To verify the damping adjustment branch 29's effect on the vibration suppression of the seeding unit 2, the seeding unit 2 using the hydraulic damping adjustment method of the present invention is compared with the conventional fixed damping state.

[0318] Evaluation metrics include root mean square vibration R, kurtosis K, and peak factor CF.

[0319] The experimental results show that:

[0320] index Conventional control This invention PDHCC reduction Root mean square R of vibration 2.633 2.340 11.15% kurtosis K 5.276 4.831 8.44% Peak Factor CF 4.695 4.089 12.90%

[0321] The above results show that the present invention can reduce both overall vibration energy and local impact response by predicting vibration state to generate damping pressure feedforward and combining it with real-time vibration feedback to correct damping pressure.

[0322] Among them, the peak factor CF decreased the most, indicating that the present invention has a good inhibitory effect on transient impacts caused by soil collision, straw disturbance and abrupt change in resistance.

[0323] Furthermore, the dominant vibration frequencies of the two control methods in the experiment were as follows:

[0324] Standard control: 15.334±2.981 Hz;

[0325] The Hz of this invention is controlled at 15.271 ± 3.000 Hz.

[0326] The small difference between the two indicates that the present invention mainly reduces the vibration amplitude by increasing the hydraulic equivalent damping and energy dissipation, without changing the dominant frequency determined by the operating speed, the surface excitation frequency band, and the seeding unit structure.

[0327] 4. Verification of field sowing quality and system control effectiveness

[0328] To verify the control effect of the system of the present invention in a real no-till field environment, a pairing test was conducted between the conventional control mode (CK) and the predictive drive hydraulic cooperative control mode (PDHCC) of the present invention on the same machine in two rows.

[0329] The experiment yielded 300 pairs of samples, including in-situ, cross-regional, and cross-time-domain verification scenarios.

[0330] Evaluation indicators include:

[0331] Mean absolute trenching depth deviation;

[0332] Average sowing depth;

[0333] Standard deviation of sowing depth;

[0334] Coefficient of variation (CV) for sowing depth;

[0335] The success rate of sowing depth qualification.

[0336] The test results are as follows:

[0337] Evaluation indicators CK PDHCC Improvement effect Mean absolute trenching depth deviation / mm 1.474±0.838 0.577±0.420 Reduced by 60.85% Average sowing depth / mm 48.497±7.673 49.463±2.746 Improve stability Seeding depth CV / % 15.82 5.55 Reduced by 64.91% Seeding depth qualification rate / % 88.33 97.33 Increased by 9.00 percentage points

[0338] The results show that, compared with traditional control methods, this invention:

[0339] (1) It significantly reduced the trenching depth deviation, reducing the average absolute trenching depth deviation by 60.85%;

[0340] (2) It reduced the dispersion of sowing depth, decreasing the coefficient of variation of sowing depth from 15.82% to 5.55%;

[0341] (3) The qualified rate of sowing depth has been improved from 88.33% to 97.33%.

[0342] This invention demonstrates that by integrating predictive drive, dual hydraulic actuation, and state feedback, the hydraulic cylinder 9 of the contouring mechanism, the damping adjustment branch 29, and the hydraulic cylinder 10 of the covering wheel work synergistically to effectively improve the stability of sowing depth under complex no-till conditions.

[0343] 5. Summary of the beneficial effects of this embodiment

[0344] The above verification results show that the no-till seeder seeding depth and vibration coordinated control system and method proposed in this invention have the following beneficial effects:

[0345] (1) By using the predictive drive control method, the vibration state and trenching depth deviation prediction results can be obtained before the seeding unit 2 enters the target prediction interval 27, which improves the early response capability of the control system.

[0346] (2) Through the dual hydraulic collaborative execution structure consisting of the contouring mechanism hydraulic cylinder 9, the damping adjustment branch 29 and the soil covering wheel hydraulic cylinder 10, the coordinated control of trenching depth adjustment, hydraulic damping vibration reduction and soil covering increase compensation is realized.

[0347] (3) By using a prediction-feedback fusion control strategy, the system’s adaptability to changes in field disturbances was improved and the vibration response of the seeding unit was reduced;

[0348] (4) Through multi-source state estimation and closed-loop feedback, the consistency of the final sowing depth was improved, the coefficient of variation of sowing depth was reduced by 64.91%, and the sowing depth qualification rate was increased to 97.33%.

[0349] Therefore, this invention can effectively solve the problems of large fluctuations in sowing depth, strong vibration response, and insufficient soil covering compensation during high-speed no-till sowing, and improve the operational stability and sowing quality of no-till seeders under complex field conditions.

[0350] In summary, this invention provides a coordinated control system and method for seeding depth and vibration in a no-till seeder. By acquiring the state change trend of individual seeding units within the target operating area through predictive drive, and combining real-time state feedback, it coordinates the control of the hydraulic cylinders of the contouring mechanism, the damping adjustment branch, and the covering wheel hydraulic cylinder, achieving unified regulation of furrowing depth adjustment, hydraulic damping vibration reduction, and soil cover increase compensation. Through a control method combining predictive feedforward and feedback correction, the responsiveness of individual seeding units to complex field environmental changes is improved, effectively addressing problems such as large seeding depth fluctuations, strong vibration response, and insufficient soil cover consistency during high-speed no-till operations.

[0351] It should be noted that the above embodiments are only used to illustrate the technical solutions and implementation methods of the present invention, and are not intended to limit the scope of protection of the present invention. Equivalent substitutions, simple transformations, or adaptive adjustments made by those skilled in the art to the structural forms, connection methods, control parameters, signal processing methods, and actuator configurations in the above embodiments without departing from the technical concept and core technical solutions of the present invention should all be included within the scope of protection of the present invention.

[0352] Any modifications, equivalent substitutions, improvements, or combinations made within the spirit and principles of this invention shall be included within the scope of protection of this invention. The scope of protection of this invention shall be determined by the technical solutions defined in the claims, and shall not be limited by the specific embodiments and contents shown in the specification and drawings.

Claims

1. A method for coordinated control of seeding depth and vibration in a no-till seeder, characterized in that, Includes the following steps: S1. Receive the prediction results of the target prediction range, the prediction results including the predicted value of the vibration state of the seeding unit and the predicted value of the trenching depth deviation; S2. Collect real-time status feedback signals during the sowing unit operation process. The real-time status feedback signals include at least one of the following: sowing unit vibration signal, contouring mechanism posture signal, depth limiting wheel load signal, hydraulic cylinder displacement signal, and hydraulic branch pressure signal. S3. Obtain the comprehensive trenching depth control deviation based on the predicted trenching depth deviation value and the real-time status feedback signal; S4. The comprehensive trenching depth control deviation is allocated as trenching depth correction amount and soil cover increase amount compensation amount; S5. Generate the target displacement command of the hydraulic cylinder of the contouring mechanism according to the trenching depth correction amount, generate the damping pressure command according to the predicted value of the vibration state of the seeding unit, and generate the target displacement command of the hydraulic cylinder of the covering wheel according to the compensation amount of the soil covering increase amount. S6. Based on the target displacement command, damping pressure command, and target displacement command of the hydraulic cylinder of the contouring mechanism and the hydraulic cylinder of the covering wheel, control the movement of the hydraulic cylinder of the contouring mechanism, the damping adjustment branch, and the hydraulic cylinder of the covering wheel respectively to achieve coordinated control of seeding depth and vibration.

2. The collaborative control method according to claim 1, characterized in that, In step S1, the predicted value of the vibration state of the seeding unit includes the root mean square of vibration, kurtosis, peak factor and dominant frequency of vibration, the predicted value of the trenching depth deviation is the difference between the target trenching depth and the predicted trenching depth within the target prediction interval, and the prediction result has a target prediction interval index.

3. The collaborative control method according to claim 1, characterized in that, In step S3, the comprehensive trenching depth control deviation is obtained by weighted fusion of the predicted trenching depth deviation and the feedback trenching depth deviation, and the fusion result is subjected to amplitude limiting processing; wherein, the feedback trenching depth deviation is estimated by fusing the posture signal of the contouring mechanism and the load signal of the depth-limiting wheel.

4. The collaborative control method according to claim 1, characterized in that, In step S4, based on the remaining stroke of the hydraulic cylinder of the contouring mechanism along the current adjustment direction, the remaining stroke of the hydraulic cylinder of the covering wheel along the current adjustment direction, and the maximum allowable correction amount per cycle, the deviation allocation coefficient is determined, and the deviation allocation coefficient is used to allocate the comprehensive trenching depth control deviation into trenching depth correction amount and covering height increase amount compensation amount.

5. The collaborative control method according to claim 1, characterized in that, In step S5, the target displacement command of the hydraulic cylinder of the contouring mechanism is generated through the calibration mapping relationship between the trench depth correction amount and the displacement of the hydraulic cylinder of the contouring mechanism. The calibration mapping relationship is determined by the geometric parameters of the contouring mechanism, the installation position of the hydraulic cylinder, and the trench depth calibration data.

6. The cooperative control method according to claim 1, characterized in that, In step S5, the damping pressure command is obtained by superimposing the feedforward damping pressure corresponding to the predicted vibration state and the pressure correction amount corresponding to the real-time vibration feedback; the pressure correction amount corresponding to the real-time vibration feedback is determined based on the normalized error between the real-time vibration root mean square, real-time kurtosis, real-time peak factor and the corresponding predicted value.

7. The cooperative control method according to claim 6, characterized in that, The feedforward damping pressure is determined by the vibration state-target damping pressure calibration table; the vibration state-target damping pressure calibration table is established based on the root mean square level of vibration and the peak impact intensity level, and the dominant vibration frequency is used for pressure correction within the same vibration state level or interpolation of adjacent working conditions.

8. The cooperative control method according to claim 1, characterized in that, In step S5, the target displacement command of the covering wheel hydraulic cylinder is generated through the reverse calibration mapping relationship between the compensation amount of soil cover increase and the displacement of the covering wheel hydraulic cylinder. The reverse calibration mapping relationship is determined by the calibration relationship between the vertical plane inclination angle of the covering wheel, the soil cover increase, and the displacement of the covering wheel hydraulic cylinder.

9. The cooperative control method according to claim 3, characterized in that, The feedback trench depth deviation is obtained using an adaptive extended Kalman filter method. This method uses the trench depth and its rate of change as state variables, the orientation signal of the contouring mechanism as the observation, and the load signal of the depth-limiting wheel as an auxiliary correction. When the load fluctuation of the depth-limiting wheel increases, the observation noise covariance is increased to reduce the impact of instantaneous impact on the trench depth estimation.

10. A no-till seeder's seeding depth and vibration coordinated control system, characterized in that, include: The prediction result input module is used to receive the predicted values ​​of the vibration state of the seeding unit and the predicted values ​​of the furrowing depth deviation in the target prediction range. The status monitoring module is used to collect vibration signals of the seeding unit, attitude signals of the contouring mechanism, load signals of the depth-limiting wheel, displacement signals of the hydraulic cylinder, and pressure signals of the hydraulic branch circuit. The control decision module is used to generate target displacement commands, damping pressure commands, and target displacement commands for the hydraulic cylinders of the contouring mechanism and the soil covering wheel based on the prediction results and feedback signals from the state monitoring module. The contouring hydraulic actuator module is used to adjust the trenching depth according to the target displacement command of the hydraulic cylinder of the contouring mechanism; A damping adjustment module is used to adjust the equivalent damping of the contour hydraulic actuator module according to the damping pressure command. The soil covering hydraulic actuator module is used to adjust the posture of the soil covering wheel and compensate for the increase in soil cover height according to the target displacement command of the hydraulic cylinder of the soil covering wheel.

11. The cooperative control system according to claim 10, characterized in that, The contouring hydraulic actuator module includes a contouring mechanism hydraulic cylinder and a first electro-proportional directional valve; the damping adjustment module includes an electro-proportional relief valve; and the soil covering hydraulic actuator module includes a soil covering wheel hydraulic cylinder and a second electro-proportional directional valve. The first electro-proportional directional valve is used to adjust the extension and retraction displacement of the contouring mechanism hydraulic cylinder; the electro-proportional relief valve is used to adjust the pressure threshold of the contouring hydraulic branch; and the second electro-proportional directional valve is used to adjust the extension and retraction displacement of the soil covering wheel hydraulic cylinder.

12. A device for coordinated control of seeding depth and vibration in a no-till seeder, characterized in that, The device includes a no-till seeder frame, a seeding unit, a contouring mechanism, a furrow opener, a depth limiting wheel, a covering wheel, a controller, and the collaborative control system described in claim 10 or 11; the hydraulic cylinder of the contouring mechanism is connected to the contouring mechanism and is used to change the soil entry state of the furrow opener, the hydraulic cylinder of the covering wheel is connected to the covering wheel adjustment mechanism and is used to change the posture of the covering wheel, and the controller is used to execute the collaborative control method described in any one of claims 1 to 9.

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