CN-121979057-A - Precision seeding and fertilizing synchronous control system and method

CN121979057ACN 121979057 ACN121979057 ACN 121979057ACN-121979057-A

Abstract

A precision seeding and fertilizing synchronous control system and method belong to the technical field of agricultural machinery, wherein the control system comprises a driving assembly, a sensing and monitoring assembly, a distributed processing single chip microcomputer and a real-time motion controller, wherein the driving assembly comprises a plurality of groups of seeding monomers, each group of seeding monomers is integrated with a seeding motor driver, a seeding motor, a fertilizing motor driver and a fertilizing motor, the sensing and monitoring assembly comprises a photoelectric sensor, a radar sensor and a land wheel encoder, the distributed processing single chip microcomputer comprises an operation speed acquisition single chip microcomputer and a seeding monitoring single chip microcomputer, and the real-time motion controller is respectively connected with the distributed processing single chip microcomputer and the driving assembly through buses and is used for executing fusion algorithm and multi-axis synchronous scheduling. The invention solves the problems of speed measurement distortion, multi-axis cooperative response lag and poor seed and fertilizer synchronization precision in complex field environments.

Inventors

ZHENG TIANJIAO
ZHENG TIANYU
JIANG XINGLONG
ZENG LINGHUI
HAN CHENGQUAN
XIN FUZHI
QI HAILONG
ZHU YANHE
ZHAO JIE

Assignees

哈尔滨工业大学

Dates

Publication Date: 20260505
Application Date: 20260202

Claims (10)

1. A synchronous control system for precision seeding and fertilization is characterized by comprising: the driving assembly comprises a plurality of groups of sowing monomers, and each group of sowing monomers is integrated with a sowing motor driver, a sowing motor, a fertilizing motor driver and a fertilizing motor; The sensing and monitoring assembly comprises N groups of photoelectric sensors for collecting seed flow signals of the sowing tray, a radar sensor for non-contact type collecting tool operation real speed and a land wheel encoder for collecting land wheel rotation speed signals; The system comprises a distributed processing singlechip, a seed metering monitoring singlechip and a control system, wherein the distributed processing singlechip comprises an operation speed acquisition singlechip which is used for acquiring signals of a radar sensor and a land wheel encoder and performing preliminary pretreatment; the real-time motion controller is respectively connected with the distributed processing singlechip and the driving component through the EtherCAT bus and is used for executing fusion algorithm and multi-axis synchronous scheduling.
2. The synchronous control system for precision seeding and fertilizing according to claim 1, wherein the operation speed acquisition single-chip microcomputer and the seed metering monitoring single-chip microcomputer are arranged on the frame.
3. The synchronous control system for precision seeding and fertilizing according to claim 1, wherein the radar sensor is arranged below the front end of the frame of the seeder, the land wheel encoder is arranged on a speed-measuring land wheel of the seeder, and the photoelectric sensor is embedded and arranged on the inner wall of a seed sowing pipe below each group of seeding monomers and is positioned below the seeding tray.
4. A precision seeding and fertilizing synchronous control method is characterized in that the precision seeding and fertilizing synchronous control system based on any one of claims 1-3 comprises the following steps: s1, entering real-time circulation after the system is started, acquiring original speed signals of a radar sensor and a land wheel encoder by a single chip microcomputer at the operation speed, acquiring seed metering state signals of each row of photoelectric sensors by a seed metering monitoring single chip microcomputer, and periodically transmitting the preprocessed multipath signals to a real-time motion controller to serve as an input reference of a control system; S2, after the real-time motion controller receives signals, the current operation speed interval is firstly judged, and a corresponding fusion strategy is executed, wherein the low-speed area is mainly provided with the speed of a land wheel encoder and the speed of a radar is used as an auxiliary, the transition area is proportionally mixed with two paths of speed data, the high-speed area is mainly provided with the speed of the radar and the auxiliary calibration of the land wheel data; S3, the real-time motion controller maps the position of the virtual main shaft into a target phase sequence of the seeding motor and the fertilizing motor in real time according to the determined reference speed and a preset electronic gear ratio, and plans and generates a high-order smooth motion curve; S4, the real-time motion controller reads actual position feedback of the seeding motor and the fertilizing motor in real time in a microsecond period, calculates tracking errors of all axes by comparing target phases, and calculates synchronous coupling errors by combining phase deviations between the two axes; S5, a real-time motion controller runs a position compensation algorithm, the calculated error compensation value is combined with a speed feedforward logic, and an accurate target position instruction is generated and issued to the drivers of all seeding monomers in real time in a cyclic synchronous position mode; And S6, after receiving the instruction, the driver ensures the phase locking of the motor through current, speed and position three-loop closed-loop control, realizes the phase cooperative operation of the seeding motor and the fertilizing motor, and immediately jumps back to the step S1 to enter the next round of real-time circulation after the regulation and control are finished, and the synchronization of seeding and fertilizing in the whole process is ensured through continuous dynamic adjustment.
5. The method for synchronous control of precision seeding and fertilizing according to claim 4, wherein in step S2, a dynamic speed fusion strategy is executed by defining a dual speed threshold value, and radar speed measurement data is monitored in real time With wheel encoder data And determining a current speed interval: When (when) When the system is in a starting low-speed stage, the motion controller adopts a Kalman filtering algorithm to deeply fuse two paths of data: wherein Is weighted by speed and directed Tilting to ensure the stability of starting, The speed of pre-fusion is indicated, The reference speed is indicated as such, Representing a pre-fusion low speed threshold; When (when) When the system is in a speed transition section, calculating a reference speed by adopting a proportional mixing method: Wherein , Is a complementary weight coefficient and , Representing a pre-fusion high speed threshold; When (when) When the system enters a high-speed stable operation interval, the data of the radar sensor is used as a main reference speed, and the data of the land wheel encoder are only used for auxiliary calibration and data backup.
6. The method of claim 4, wherein the motion controller in step S2 uses the pre-fusion speed as the observed input of the Kalman filter and uses the Kalman gain The optimal estimated speed is solved as a deterministic reference speed, wherein, Representing the prediction covariance of the prediction set, Representing the measurement noise variance.
7. The method for synchronous control of precision seeding and fertilizing according to claim 4, wherein in step S3, the position of the virtual main shaft is mapped into the target phase sequence of the seeding motor and the fertilizing motor in real time according to the preset electronic gear ratio by the specific process of making the target position instruction of the seeding motor be The target position instruction of the fertilizer applying motor is ; , And satisfy the following Wherein, the method comprises the steps of, The proportion coefficients of the electronic gears of the seeding motor and the fertilizing motor are respectively, As the position quantity of the main shaft, Is constant, i.e The ratio between them is kept fixed.
8. The method for synchronous control of precision seeding and fertilizing according to claim 7, wherein in step S3, the high-order smooth motion curve is subjected to track planning by using 5-order polynomials, and when the speed of the machine is changed, the real-time motion controller 6 performs track planning according to the current reference speed And calculating target speed change section of sowing motor and fertilizer applying motor by means of preset electronic gear ratio Change to The speed of the fertilizer applying motor is from Change to Wherein Is the proportion coefficient of seed manure; For each speed transition, the real-time motion controller 6 uses 5 th order polynomial trajectory planning, the position of which commands The following form is satisfied: wherein Representing 5-order polynomial trajectory planning curve coefficients, completing the coefficient solving in each instruction transmission period by the real-time motion controller, and then calculating a target position instruction And : , ; For the constant velocity phase, linear position accumulation is directly employed: , wherein, Representing the previous time Is used to determine the angle of the lens, The speed of the constant-speed stage, At the beginning of the constant-speed phase, At the current calculation moment, the speed, the acceleration and the jerk of the seeding motor and the fertilizing motor are constant values.
9. The method for synchronous control of precision seeding and fertilizing according to claim 4, wherein the specific process in step S4 is that the real-time motion controller acquires the actual feedback positions of the seeding motor and the fertilizing motor in real time in each command transmission period And (3) with First, the single axis tracking error is calculated And (3) with , wherein, The theoretical position of the seeding motor is indicated, Indicating the theoretical position of the fertilizing motor, and identifying the synchronous coupling error through the cross coupling logic , Representing a synchronous weight coefficient for normalizing the two-axis error to the same scale reference, the synchronous coupling error The phase ratio offset between two motors is reflected in real time, namely the dynamic drift amount of the seed manure spacing in the field, and the real-time motion controller executes cross coupling compensation and utilizes an error weighted synthesis algorithm: And Will be 、、 A weighted synthesis is performed, wherein, Represents the position error compensation value of the seeding motor, Represents the position error compensation value of the fertilizing motor, In order to achieve a proportional gain, In order to integrate the gain, Is the synchronization gain.
10. The method of claim 9, wherein the real-time motion controller combines the weighted compensation value with theoretical position and speed feedforward based on virtual main shaft planning to generate final circulation synchronous position command for the seeding motor driver Generating a final cycle synchronization position command for transmission to the fertilizing motor driver Wherein, the method comprises the steps of, Represents a seeding motor cycle synchronization position command, Indicates the position instruction of the cyclic synchronization of the fertilizing motor, For seeding the motor speed feed-forward coefficient, For the feed-forward coefficient of the speed of the fertilizing motor, the real-time correction and locking of the instruction are realized through a cyclic synchronous position mode.

Description

Precision seeding and fertilizing synchronous control system and method Technical Field The invention belongs to the technical field of agricultural machinery, and relates to a synchronous control system and a synchronous control method for precision seeding and fertilization, which are synchronous and cooperated by a plurality of focusing motors and are accurate in speed perception, and are suitable for high-precision seeding and fertilization cooperated operation in large-scale and intensive planting scenes. Background In the field of precise agriculture, the realization of high speed and high hill drop precision provides extremely high real-time and synchronism requirements for a control system of seeding equipment. With the increase of the sowing speed, how to obtain the reliable advancing speed of the machine tool in real time and ensure the strict synchronization of the sowing and fertilizing mechanisms has become a core bottleneck for limiting the operation quality. The existing electronic driving seeding system still faces the complex and changeable field working conditions that a single sensor is difficult to deal with in actual operation, the land wheel is easy to slip in wet slippery or loose soil, so that speed measurement distortion is caused, and the radar speed measurement is not affected by slip, but signal noise exists under the shielding of undulating ground surfaces or vegetation. The prior art lacks an effective multi-source data dynamic fusion mechanism, and is difficult to provide a smooth and high-precision speed reference in a full-speed interval. In the aspect of multi-motor cooperative control, when a large number of seed metering monomers are driven by a traditional CAN bus or serial communication mode, strict synchronization among multiple shafts is difficult to ensure under the influence of bandwidth and nondeterministic delay. Especially when the seed metering motor and the fertilizing motor are required to maintain a specific phase relation and a specific synchronous track, the traditional control scheme often has response lag and accumulated errors, so that the spacing between the seed and fertilizer is different, and the consistency of crop growth is affected. In addition, the lack of optimization to the motor motion track makes the system produce mechanical vibration easily in the acceleration and deceleration stage, and then reduces the hill-drop precision. Disclosure of Invention The invention aims to solve the defects of the prior art, and further provides a precision seeding and fertilizing synchronous control system and a precision seeding and fertilizing synchronous control method. A synchronous control system for precision seeding and fertilization comprises: The driving assembly comprises 1-N groups of sowing monomers, and each group of sowing monomers is integrated with a sowing motor driver, a sowing motor, a fertilizing motor driver and a fertilizing motor; The sensing and monitoring assembly comprises N groups of photoelectric sensors for collecting seed flow signals of the sowing tray, a radar sensor for non-contact type collecting tool operation real speed and a land wheel encoder for collecting land wheel rotation speed signals; The system comprises a distributed processing singlechip, a seed metering monitoring singlechip and a control system, wherein the distributed processing singlechip comprises an operation speed acquisition singlechip which is used for acquiring signals of a radar sensor and a land wheel encoder and performing preliminary pretreatment; And the real-time motion controller is provided with a real-time hardware kernel, is respectively connected with the distributed processing singlechip and the driving component through the EtherCAT bus and is used for executing a fusion algorithm and multi-axis synchronous scheduling. Further, the speed acquisition singlechip and the seed metering monitoring singlechip are arranged on the rack, and the preprocessed signals are transmitted to the real-time motion controller in real time through the EtherCAT bus. The radar sensor is arranged below the front end of the seeder frame, and the land wheel encoder is arranged on a speed measuring land wheel of the seeder. Further, the real-time motion controller adopts a Kalman filtering algorithm to carry out secondary processing on the fused speed signals, and a speed state observer is established to filter signal noise points caused by surface fluctuation and instantaneous slip, so that high-certainty synchronous reference speed is generated. Further, the real-time motion controller reads the feedback actual positions of the seeding motor and the fertilizing motor in real time, and obtains the respective position deviation of the two motors through the position error calculation circuit, so as to calculate the synchronous position coupling error between the two shafts. Further, the seed metering monitoring singlechip scans N groups of photoelectric sensor sign