基于北斗容错策略的小麦小区播种机控制系统研究

Design and Experiment of Wheat Plot Seeder Control System Based on Beidou Fault-tolerant Strategy

摘要:

随着智能化作业的发展，北斗系统已广泛应用于小麦小区智能播种作业，但由于田间作业工况复杂，易出现北斗系统信号丢失或偏移等异常，导致播种精度下降，本文提出了一种基于容错策略的小麦小区播种机控制系统。首先，建立北斗报文解析模型，确定排种电机转速影响因素，进而提出一种基于趋势移动平均法的北斗容错策略；其次，应用基于粒子群改进算法的模糊神经网络PID算法实现对电机的精准控制；最后进行试验验证。台架试验结果表明，人为修改北斗报文模拟异常时，小麦各行排量一致性变异系数平均值为3.87%，满足排种要求。将该容错策略应用于小麦小区田间播种作业，结果表明，当小区长度为4、5、6 m时，多行播种均匀性变异系数分别为19.94%、20.76%和21.79%，单行播种均匀性变异系数分别为19.93%、20.87%和22.26%，满足国家标准和小麦小区播种农艺要求，验证了本文提出的基于容错策略的小麦小区播种控制系统的可靠性与准确性。

Abstract:

With the development of intelligence, Beidou system has been widely used in agricultural machinery, but there is a problem of Beidou signal loss during operation. In response to the problem of Beidou signal loss in the electric control seeding system of the wheat plot, which leads to abnormal Beidou system messages and a decrease in seeding accuracy, a wheat plot seeding control system was proposed-based on fault-tolerant strategy. Firstly, by establishing a Beidou message parsing model, the factors affecting the speed of the seeding motor were determined, and a Beidou fault-tolerant strategy-based on trend moving average method was proposed. Secondly, the fuzzy neural network PID algorithm improved by particle swarm optimization algorithm was applied to achieve precise control of the motor. Finally, experimental verification was carried out. The results of the bench test showed that when artificially modifying the Beidou message to simulate anomalies, the average coefficient of variation for the consistency of wheat row displacement was 3.87%, which met the seeding requirements. The fault-tolerant strategy was applied to field sowing operations in a wheat plot. The experimental results showed that the coefficient of variation of multi-row sowing uniformity in three sets of experiments were 19.94%, 20.76%, and 21.79%, respectively. And the coefficient of variation for uniformity of single row sowing was 19.93%, 20.87%, and 22.26%, respectively, which met the national standards and agricultural requirements for the wheat plot, and verified the reliability and accuracy of the seeding control system-based on fault-tolerant strategy.